Universal sensor assembly for vehicles

ABSTRACT

A universal sensor assembly for mounting on a vehicle is provided. The universal sensor assembly includes a sensor suite. The sensor suite includes a baseplate and a sensor being supported by the baseplate. The sensor including a field of view (FOV) associated with detecting objects within an environment surrounding the vehicle. The universal sensor assembly further includes a support structure. The support structure includes a set of detachable attachment mechanisms supporting the baseplate. The set of detachable attachment mechanisms is included on a rooftop of the vehicle at positions that are based on surface parameters associated with the rooftop and a support component supporting the baseplate. The one support component is disposed at a position on the rooftop that is based on the surface parameters so that the FOV of the sensor is unoccluded by any portion of the vehicle and the support structure.

TECHNICAL FIELD

This disclosure relates generally to a sensor assembly for vehicles,and, more specifically, to a universal sensor assembly for vehicles.

BACKGROUND

Autonomous or semi-autonomous vehicles may typically rely upon on anumber of sensors (e.g., LiDARs, cameras, radars, and so forth) fordetermining an operational design domain (ODD), or an environment inwhich the vehicle may be optimally and safely deployed. For example, theparticular sensors determined to be suitable for the ODD may beselected, disposed, calibrated, and fixed as part of a sensor setup tobe installed onto the rooftop of the vehicle. Particularly, the sensorsetup may act as the “eye” of the vehicle, continuously monitoring theenvironment surrounding the vehicle within some fixed sensor sightrange. As such, many sensor setups may often include preassembledattachment structures that may specifically dedicated to a particularvehicle and particular rooftop design of that particular vehicle.However, in some instances, having the sensor setup being attached tothe rooftop via attachment mechanisms (e.g., legs, supportingstructures, stabilizing structures) with dimensions that are specific toonly a particular vehicle model and manufacturer and rooftop design mayprevent the sensor setup from being easily deployable or removable.

Further, because various types of vehicles (e.g., cars vs. trucks vs.minivans) may include differently designed rooftops, the sensor setupmay be subject to a specific sensor recalibration for each vehicleand/or vehicle type, as the differently designed rooftops may disturbthe mechanical properties (e.g., rigidity, flatness, stability,determinacy, and so forth) of the sensor assembly. Still further, evenwhen the sensor setup includes a predesignated support structure forattachment mechanisms with dimensions that are specific to only aparticular vehicle model and manufacturer and rooftop design, eachdifferently designed rooftop would still be subject to its own specificsensor setup and predesignated support structure. Moreover, becausethese sensor setups may generally include only sensors with fixed sensorsight ranges, the sensors themselves may further limit the ability ofthese sensor setups from being easily deployable or removable for other,various types of vehicles since the sensor sight range may be also fixedto the particular dimensions of the vehicle and rooftop design. Suchlimitations may adversely impact the scalability of sensor setups, aswell as exorbitantly increase inefficiencies in the production of thesesensor setups. It may be thus useful to improve sensors and sensorsetups for autonomous or semi-autonomous vehicles.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates an example autonomous or semi-autonomous vehicleenvironment.

FIGS. 2A and 2B illustrate respective aerial-view diagrams and ofembodiments of sensor coverages.

FIGS. 3A and 3B illustrate a universal sensor suite and a universalsensor suite, respectively, for autonomous or semi-autonomous vehicles.

FIG. 4 illustrates a vehicle factory or maintenance service area.

FIG. 5 illustrates an adjustable sensor that pivots based on vehiclespeed

FIG. 6 illustrates a flow diagram of a method for including detachableattachment mechanisms and support components as part of a universalsensor assembly.

FIG. 7 illustrates a flow diagram of a method for including detachableattachment mechanisms, support components, and removable supportstructures as part of a universal sensor assembly.

FIG. 8 illustrates a flow diagram of a method for including anadjustable or pivotable sensor as part of a universal sensor assembly.

FIG. 9 illustrates a flow diagram of a method for facilitating thecollection of sensor data and vehicle data that may be captured by oneor more sensors included in a universal sensor assembly.

FIG. 10 illustrates an example block diagram of a transportationmanagement environment.

FIG. 11 illustrates an example of a computing system.

DESCRIPTION OF EXAMPLE EMBODIMENTS

In the following description, various embodiments will be described. Forpurposes of explanation, specific configurations and details are setforth in order to provide a thorough understanding of the embodiments.However, it will also be apparent to one skilled in the art that theembodiments may be practiced without the specific details. Furthermore,well-known features may be omitted or simplified in order not to obscurethe embodiment being described. In addition, the embodiments disclosedherein are only examples, and the scope of this disclosure is notlimited to them. Certain embodiments may include all, some, or none ofthe components, elements, features, functions, operations, or steps ofthe embodiments disclosed above. Embodiments according to the inventionare in particular disclosed in the attached claims directed to a method,a storage medium, a system and a computer program product, wherein anyfeature mentioned in one claim category, e.g., method, can be claimed inanother claim category, e.g., system, as well. The dependencies orreferences back in the attached claims are chosen for formal reasonsonly. However, any subject matter resulting from a deliberate referenceback to any previous claims (in particular multiple dependencies) can beclaimed as well, so that any combination of claims and the featuresthereof are disclosed and can be claimed regardless of the dependencieschosen in the attached claims. The subject-matter which can be claimedcomprises not only the combinations of features as set out in theattached claims but also any other combination of features in theclaims, wherein each feature mentioned in the claims can be combinedwith any other feature or combination of other features in the claims.Furthermore, any of the embodiments and features described or depictedherein can be claimed in a separate claim and/or in any combination withany embodiment or feature described or depicted herein or with any ofthe features of the attached claims.

The present embodiments relate to a universal sensor assembly forautonomous or semi-autonomous vehicles, and more particularly to auniversal sensor assembly for increasing scalability and productionefficiency for an entire fleet of various types of autonomous orsemi-autonomous vehicles on which the universal sensor assembly is to bedeployed. Autonomous or semi-autonomous vehicles may typically rely uponon a number of sensors (e.g., LiDARs, cameras, radars, and so forth) fordetermining an operational design domain (ODD), or an environment inwhich the vehicle may be optimally and safely deployed. For example, theparticular sensors determined to be suitable for the ODD may beselected, disposed, and calibrated as part of a sensor assembly to beinstalled onto the rooftop of the vehicle. Particularly, the sensorassembly may act as the “eye” of the vehicle, continuously monitoringthe environment surrounding the vehicle within some fixed sensor sightrange. As such, many sensor assemblies may often include preassembledattachment structures that may specifically dedicated to a particularvehicle and particular rooftop design of that particular vehicle.However, in some instances, having the sensor assembly being attached tothe rooftop via preassembled attachment structures (e.g., legs,supporting structures, stabilizing structures) with dimensions that arespecific to only a particular vehicle model and manufacturer and rooftopdesign may prevent the sensor assembly from being easily deployable orremovable for other, various types of vehicles.

Further, because various types of vehicles (e.g., cars vs. trucks vs.minivans) may include differently designed rooftops, the sensor assemblymay be subject to a specific sensor recalibration for each vehicleand/or vehicle type, as the differently designed rooftops may disturbthe mechanical properties (e.g., rigidity, flatness, stability,determinacy, and so forth) of the sensor assembly. Still further, evenwhen the sensor assembly includes a predesignated support structure forattachment mechanisms with dimensions that are specific to only aparticular vehicle model and manufacturer, each differently designedrooftop would still be subject to its own specific sensor assembly andpredesignated support structure. Moreover, because these sensor setupsmay generally include only sensors with fixed sensor sight ranges, thesensors themselves may further limit the ability of these sensorassemblies from being easily deployable or removable for other, varioustypes of vehicles since the sensor sight range may be also fixed to theparticular dimensions of the vehicle and rooftop design. Suchlimitations may adversely impact the scalability of sensor setups, aswell as exorbitantly increase inefficiencies in the production of thesesensor setups. It may be thus useful to improve sensors and sensorsetups for autonomous or semi-autonomous vehicles.

Accordingly, the present techniques include providing a universal sensorassembly for detachably coupling to vehicles by way of detachableattachment mechanisms or one or more removable support structures thatare removable from the universal sensor assembly itself. Particularly,in some embodiments, the universal sensor assembly may include one ormore detachable attachment mechanisms that may be connected to theperimeter (e.g., edges) of the undersurface of the universal sensorassembly, such that the one or more detachable attachment mechanisms maybe positioned between the universal sensor assembly and the rooftop of avehicle. For example, in some embodiments, the one or more detachableattachment mechanisms may include one or more industrial-grade suctiondevices (e.g., vacuum pump suction cups), industrial-grade magneticdevices, industrial-grade Velcro fasteners (e.g., tape, strip, and soforth), or one or more dissolvable adhesives. Furthermore, to ensureuniversality of the mechanical properties (e.g., rigidity, flatness,stability, determinacy, and so forth) irrespective of vehicle and/orvehicle type, the universal sensor assembly may also include one or morerigidly-designed, rigid support components that may be mounted toward acenter portion of the undersurface of the universal sensor assembly.

In certain embodiments, as vibrations and/or other dynamic motions maybe expected to occur during the operation and during a lifetime of thevehicle, the rigid support components may be designed with apredetermined rigidity (e.g., a predetermined Flexural modulus ofelasticity or a predetermined Tensile modulus of elasticity), such thatthe universal sensor assembly may be allowed some vertical movementand/or vertical deformation (e.g., due to the detachable attachmentmechanisms experiencing some vertical deformation or compression) as thevehicle travels without any disturbances to, for example, the rigidity(e.g., stiffness) of the universal sensor assembly, and, by extension,the sensor calibration of the sensors (e.g., LiDAR sensors, camerasensors) included as part of the universal sensor assembly.Specifically, the rigid support components may stiffen the universalsensor assembly, such that even if the detachable attachment mechanismsexperiences some vertical deformation or compression, the verticaldeformation or compression may be limited and mitigated by the rigidity(e.g., stiffness) provided by the rigid support components.Specifically, in some embodiments, the rigid support components mayinclude a high-density material, such as a high-density rubber, ahigh-density foam, a high-density fiber, a high-density polymer, ahigh-density ceramic, a high-density composite, a high-density alloy, orother high-density material that may be utilized, for example, to atleast partially counteract the compression or deformation of the one ormore detachable attachment mechanisms in the downward direction so as toincrease a rigidity with respect to the baseplate. That is, in someembodiments, the rigid support components may be provided to ensure thata relative motion between the universal sensor assembly and the vehicleremains fixed (e.g., such that the universal sensor assembly and thevehicle may move in a steady motion together and concurrently) duringthe operation of the vehicle. In other embodiments, the universal sensorassembly may also be configured to detachably couple (e.g., via suctiondevices, magnetic devices, Velcro fasteners, dissolvable adhesives,detachable connectors, and so forth) to a wide array of removablesupport structures that may be preconfigured to various types ofvehicles (e.g., cars, trucks, minivans, semi-trailers, buses, and soforth). That is, the universal sensor assembly may, in some embodiments,include as fixed only the dedicated sensors for optimal perceptioncapabilities. In this way, the universal sensor assembly may be switchedfrom one type of vehicle (e.g., car) to another type of vehicle (e.g.,truck) without the individual sensors of the universal sensor assemblyhaving to be redesigned or recalibrated. For example, because theuniversal sensor assembly is modular and universal, the individualsensors (e.g., LiDAR sensors, camera sensors) may be calibrated to acommon reference point with respect to a baseplate of the universalsensor assembly before being mounted on a vehicle. Thus, only theuniversal sensor assembly itself would be calibrated with respect to theparticular vehicle type (e.g., car vs. truck vs. minivan vs.semi-trailer, etc.) based on, for example, vehicle height, position,angle, amount of vibration, vehicle dynamics of suspension, and soforth.

In certain embodiments, the present techniques may not only provide auniversal sensor assembly that is both easily removable and deployableto various types of vehicles, but by additionally ensuring theuniversality of the mechanical properties (e.g., rigidity, flatness,stability, determinacy, and so forth) of the sensor assembly, a numberof technical advantages with respect to scalability and efficiency ofproduction may also be achieved. For example, because the universalsensor assembly may be free of attachment mechanisms (e.g., legs,supporting structures, stabilizing structures) with dimensions that arespecific to only a particular vehicle model and manufacturer and rooftopdesign, and further allows for universal and/or one-off sensorcalibration, the deployment of the universal sensor assembly to varioustypes of vehicles (e.g., cars, trucks, minivans, and so forth) may beperformed quickly and efficiently utilizing, for example, one or moregantry cranes or other similar mechanisms.

For example, in certain embodiments, a gantry crane configured toposition the universal sensor assembly onto the rooftops of varioustypes of vehicles (e.g., cars, trucks, minivans, and so forth) maydetermine the most optimal place and position (e.g., frontward,rearward, or central) on the rooftop for the type of vehicle to achievemaximum sensor field of view (FOV). The gantry crane may then deploy theuniversal sensor assembly onto the rooftop of the vehicle by way of thedetachable attachment mechanisms. In certain embodiments, the universalsensor assembly may include, for example, detachable attachmentmechanisms that are nonspecific to the vehicle type (e.g., car vs. truckvs. minivan vs. semi-trailer, etc.), model, and manufacturer vehicle,and thus the universal sensor assembly may itself be calibrated withrespect to the particular vehicle based on vehicle physical dimensions,such as the vehicle and rooftop height (e.g., measured from rooftop toground), vehicle and rooftop width, vehicle and rooftop position,rooftop angle, amount of vibration, vehicle dynamics of suspension,vehicle and rooftop shape, a vehicle and rooftop contour, vehicle androoftop flatness, vehicle and rooftop style, and so forth that may becaptured and analyzed by one or more cameras and a control system of thegantry crane as the vehicle approaches the gantry crane. This allows thegantry crane to position and place the universal sensor assembly ontothe rooftop in a manner that would provide the most accurate perceptionand maximized FOV. Specifically, by determining the vehicle and rooftopphysical dimensions, an unoccluded, sweeping 360° FOV and sensorcoverage may be achieved for all vehicles and all types of vehicles onwhich the universal sensor suite may be mounted upon. This may furthermarkedly increase scalability and production efficiency, for example,for an entire fleet of various types of vehicles on which the universalsensor assembly is to be deployed.

In certain embodiments, to further increase scalability and productionefficiency, for example, for an entire fleet of various types ofvehicles on which the universal sensor assembly is to be deployed, oneor more sensors that may be included as part of the universal sensorassembly may be adjustable to cover multiple sensor sight ranges basedon, for example, vehicle velocity and/or vehicle and vehicle rooftopphysical dimensions. For example, in certain embodiments, the universalsensor assembly may include one or more adjustable LiDAR sensors. Inother embodiments, the universal sensor assembly may include any ofvarious adjustable sensors, such as adjustable camera sensors,adjustable IMU sensors, adjustable radar sensors, or other similaradjustable sensors. In certain embodiments, the LiDAR sensor may includea pivotable relative angle. For example, the adjustable LiDAR sensor maybe mounted to the pivoting surface, in which the relative angle of thepivoting surface may be controlled by a linear actuator. In someembodiments, the linear actuator may include, for example, a hydrauliclinear actuator, pneumatic linear actuator, an electromechanicalactuator, or other linear actuator that may be suitable for mechanicallyoperating to cause the adjustable LiDAR sensor to pivot from a startingposition corresponding to a vertical angle position (e.g., at angle ofapproximately 90° and corresponding to a particular sensor sight range)to an acute angle position (e.g., corresponding to another particularsensor sight range) at decreased velocities. For example, in oneembodiment, the adjustable LiDAR sensor may pivot from the verticalangle position to an acute angle position when the vehicle reaches avelocity of approximately 25 miles per hour (mph) or lower, for example.

In certain embodiments, as the velocity of the vehicle increases, thelinear actuator may cause the adjustable LiDAR sensor to pivot back tothe vertical angle position (e.g., at angle of approximately 90° andcorresponding to a particular sensor sight range) at increasedvelocities. For example, in one embodiment, the adjustable LiDAR sensormay pivot back to the vertical angle position when the vehicle reaches avelocity of approximately 60 mph or higher, for example. For example, inother embodiments, the linear actuator may also be configured tomechanically operate to cause the adjustable LiDAR sensor to pivot inaccordance with vehicle velocities over a continuous range of relativeangles (e.g., over relative angles from 0° to 90° that varies along withchanges in vehicle velocity). In this way, the adjustable LiDAR sensormay cover all of the sight ranges in an efficient manner. Moreover,because the adjustable LiDAR sensor may include a mechanical operation(e.g., as opposed to an electronic and/or computer-based operation), theadjustable LiDAR sensor may exhibit faster response times, and thusincrease the overall safety response of the vehicle. Additionally, insome embodiments, the adjustable LiDAR sensor may be adjusted basedpartly on the vehicle and vehicle rooftop physical dimensions (e.g.,adjustment of the pivoting angle range of the adjustable LiDAR sensor inview of one or more vehicle rooftop physical dimensions).

In certain embodiments, the adjustable LiDAR sensor may also include afailsafe mechanism (e.g., hydraulic ball and screw mechanism on a firstend of the pivoting surface of the adjustable LiDAR sensor and acompression spring on a second end of the pivoting surface of theadjustable LiDAR sensor) to cause the adjustable LiDAR sensor to tiltpermanently into the acute angle position to perceive objects that maybecome apparent directly in front of the vehicle, for example, in thecase of a misoperation or operator-determined temporary suspension ofthe pivoting mechanism of the adjustable LiDAR sensor. This may allowthe adjustable LiDAR sensor to perceive near-field objects (e.g.,typically corresponding to times the vehicle is operating at velocitiesbelow 25 mph and being suited for perceiving objects within a distanceof approximately 50 m) even in the case in which, for example, amisoperation or an operator-determined temporary suspension of thepivoting mechanism of the adjustable LiDAR sensor occurs. Thus, inaccordance with the presently disclosed techniques, the universal sensorassembly may include one or more sensors that may be adjustable to covermultiple sensor sight ranges based on, for example, vehicle velocityand/or vehicle and vehicle rooftop physical dimensions. This may furthermarkedly increase scalability and production efficiency, for example,for an entire fleet of various types of vehicles on which the universalsensor assembly is to be deployed.

In certain embodiments, to further reduce complexity and facilitatesensor data and vehicle data collection by a central system (which mayalso increase scalability and data management efficiency with respect toan entire fleet of various types of vehicles), although not illustrated,a compute system of the vehicle 102 may include one or morecommunication ports (e.g., universal synchronous asynchronous receivertransmitter (USART) port, serial peripheral interface (SPI) port,ethernet port, universal serial bus (USB) port, local interconnectnetwork (LIN) port, and so forth) in which one or more portable storagedevices may be installed thereinto. For example, in some embodiments,the one or more portable storage devices may include, for example, asolid-state memory device (e.g., NAND flash) that may be installed intothe communication ports to record or download vehicle data and sensordata of the vehicle 102 locally (e.g., at the vehicle 102) untilindicating that its storage capacity is reached. The memory device maybe then manually removed and replaced (e.g., by instructing and/ordriving the vehicle 102 to a centralized location and replacing thememory device with another memory device), thus eliminating anycumbersome tasks to inefficiently transmit the vehicle data overwireless networks. This may increase scalability and data managementefficiency for an entire fleet of various types of vehicles.

Indeed, while the present techniques may be discussed henceforthprimarily with respect to autonomous or semi-autonomous vehicle typessuch as minivans, caravans, multi-purpose vehicles (MPVs), sport utilityvehicles (SUVs), crossover utility vehicles (CUVs), and recreationalvehicles (RVs), it should be appreciated that the present techniques maybe applied to any of various types of autonomous or semi-autonomousvehicles (e.g., cars, trucks, vans, buses, semi-trailer trucks, trains,trams, cable cars, tractors, forklifts, construction vehicles, farmingvehicles, unmanned vehicles, drones, scooters, aircrafts, watercrafts,spacecrafts, and so forth). As used herein, “calibration” or “sensorcalibration” may refer to a process utilized to inform an autonomous orsemi-autonomous vehicle of the manner in which a number of sensors maybe positioned on or about the vehicle, and to bring the informationcaptured (e.g., raw sensor data) by each of the number of sensors into acommon coordinate frame (e.g., a measurement reference frame).

For example, in some embodiments, performing “calibration” or “sensorcalibration” may include deploying one or more machine learning (ML)algorithms that may allow, for example, the autonomous orsemi-autonomous vehicle to understand the manner in which theenvironment appears from the perspective of each individual sensorand/or each individual set of similar sensors. Similarly, as usedherein, “data fusion” or “sensor data fusion” may refer to a sensorcoverage, communication, reference, synchronization, and redundancymodality that may be established with respect to each individual sensorand/or each individual set of similar sensors disposed on an autonomousor semi-autonomous vehicle, such that the information captured (e.g.,with respect to the vehicle itself and/or the environment in which thevehicle is operating) by each individual sensor or each individual setof similar sensors may be coalesced to generate increasingly accuratedeterminations (e.g., alerts, control actions) based thereon. Forexample, in some embodiments, performing “data fusion” or “sensor datafusion” may include deploying one or more deep learning algorithms toperform perception, mapping, localization, and control (e.g., based onthe calibrated sensor data) of an autonomous or semi-autonomous vehicle.

Furthermore, as used herein, “modular” may refer to a system designatedto include one or more subcomponents or subunits of standardized andpurposeful size, design, construction, arrangement, positioning,configuration, disposition, calibration, universality, etc., such thatthe one or more subcomponents or subunits may be suitably arrangedand/or fitted together onto a singular support medium in a myriad ofways and may each be interchangeable (e.g., swappable) with each otherand/or with other similar subcomponents or subunits. For example, asused herein, a “modular” sensor assembly may include a sensor assemblyincluding a baseplate, which may include one or more individuallydesignated calibration locations for respective sensors or sets ofsensors (e.g., sensors or sets of sensors of various modalities) and aretrofittable design, such that any of the sensors may be swapped ontothe baseplate or swapped off from the baseplate without necessarilyhaving to perform a recalibration (e.g., since all of the sensors arepre-calibrated to a common calibration point at least partially impartedby the baseplate). Further, additional sensors (e.g., of variousmodalities) that were not already part of the “modular” sensor assemblymay also be added onto the baseplate without necessarily having toperform a recalibration.

Still further, as used herein, “universal” may refer to a systemdesignated to include a singular kit of standardized and purposefulsize, design, construction, arrangement, positioning, configuration,disposition, calibration, universality, etc., such that the “universal”sensor assembly may itself be interchangeable, such that the complete“universal” sensor assembly may be swapped onto a vehicle or swapped offfrom a vehicle without any of the sensors necessarily having to berecalibrated. That is, the “universal” sensor assembly may include auniversal sensor setup that includes sensors that may be calibratedeither on a vehicle or calibrated apart from a vehicle. In this way, the“universal” sensor assembly, as provided herein, may vastly increasescalability. For example, only the “universal” sensor assembly itselfwould be calibrated to the particular vehicle type (e.g., car vs. truckvs. minivan vs. bus vs. semi-trailer, etc.) based on, for example,vehicle and rooftop height, vehicle and rooftop width, vehicle androoftop position, rooftop angle, amount of vibration, vehicle dynamicsof suspension, vehicle and rooftop shape, a vehicle and rooftop contour,vehicle and rooftop flatness, vehicle and rooftop style, and so forth.For example, the “universal” sensor assembly may be configured andfitted together as a kit to be deployed to various types of vehicleswithout sacrificing the functionality of the “universal” sensorassembly. Thus, “universal” may convey that no aspects of the“universal” sensor assembly may be modified in order to render the“universal” sensor assembly physically suitable for the various types ofvehicles. Indeed, “universal” may further convey that only secondary orauxiliary components (e.g., not part of the “universal” sensor assemblyitself) may be utilized to render the “universal” sensor assemblyphysically suitable for the various types of vehicles.

With the forgoing in mind, it may be useful to describe an exampleautonomous or semi-autonomous vehicle environment 100, as illustrated byFIG. 1. As depicted by FIG. 1, a vehicle 102 may include, for example,an autonomous or semi-autonomous vehicle such as a minivan, a caravan, amulti-purpose vehicle (MPV), a sport utility vehicle (SUV), a crossoverutility vehicle (CUV), or a recreational vehicle (RV) that may beoperated within the environment 100 (e.g. a real-world environment). Asfurther depicted by FIG. 1, the vehicle 102 may include a universalsensor assembly 104, in accordance with the presently disclosedembodiments. In certain embodiments, the universal sensor assembly 104may include a rooftop sensor setup that may be utilized, for example, tocapture information about the vehicle 102 and/or environment 100 forperforming perception (e.g., the resolving of certain agents that may bepresent within the environment 100 or vicinity of the vehicle 102 suchas other vehicles, pedestrians, bicyclists, wildlife, vegetation, or anyof various other potential moving and/or stationary obstructions),mapping (e.g., precise location information of the environment 100 suchas road lanes, road lane boundaries, intersections, traffic lights,traffic signs, detours, road elevations, road declinations, railroadcrossings, tramway tracks, speed bumps, and so forth), localization(e.g., the precise location of the vehicle 102 itself within theenvironment 100), and control (e.g., driving operations) of the vehicle102. As depicted, in certain embodiments, the universal sensor assembly104 may include a sleek and minimalistic design, such that the universalsensor assembly 104 may be positioned compactly on the rooftop of thevehicle 102 with only a minimal footprint.

Although not illustrated, it should be appreciated that, in addition tothe universal and universal sensor assembly 104 disposed onto therooftop 106 of the vehicle 102, in other embodiments, the vehicle 102may also include additional sensors that may be disposed in other placesof the vehicle 102. For example, in some embodiments, the vehicle 102may include additional sensors that may be disposed, for example, alongor underneath the front and back fenders of the vehicle 102, along thefront grille of the vehicle 102, along a backside of the vehicle 102,along or underneath the side panels of the vehicle 102, along orunderneath the chassis of the vehicle 102, inside a cockpit area of thevehicle 102, inside a payload area of the vehicle 102, within one ormore wheel wells of the vehicle 102, and/or in various other places ofthe vehicle 102 that may be suitable for disposing sensors to collectinformation about the vehicle 102 and/or the environment 100.

In certain embodiments, the universal sensor assembly 104 may alsoinclude a baseplate on which a set of one or more LiDAR sensors 108 anda set of camera sensors 110 may be mounted. Specifically, in someembodiments, the baseplate may impart a common coordinate frame (e.g., asingular measurement reference frame) by which a sensor calibrationand/or sensor data fusion of the set of one or more LiDAR sensors 108and a set of camera sensors 110 may be performed based thereon, and, insome embodiments, independently from the vehicle 102. In someembodiments, the set of one or more LiDAR sensors 108 and a set ofcamera sensors 110 may be arrangeably coupled to the baseplate toprovide a common coordinate frame (e.g., a measurement reference frame)for the set of one or more LiDAR sensors 108 and a set of camera sensors110. Specifically, the baseplate may include one or more otherindividually designated locations (e.g., determined based on one or morestructural analyses and sensor FOV optimization analyses) for the set ofone or more LiDAR sensors 108 and a set of camera sensors 110 that maybe selected to both maximize sensor coverage (e.g., FOV) and to balancea weight distribution of the universal sensor assembly 104. In certainembodiments, based on the common coordinate frame imparted by thebaseplate, a calibration of the set of one or more LiDAR sensors 108 anda set of camera sensors 110 may be performed prior to mounting theuniversal sensor assembly 104 onto the rooftop 106 of the vehicle 102(e.g., independently of the vehicle 102). For example, in someembodiments, prior to disposing the modular sensor assembly onto therooftop 106 of the vehicle 102, the set of one or more LiDAR sensors 108and a set of camera sensors 110 may be calibrated to a targetcalibration position corresponding to the common coordinate frame (e.g.,a measurement reference frame) as imparted by the baseplate. However,while the set of one or more LiDAR sensors 108 and the set of camerasensors 110 of the universal sensor assembly 104 may be calibrated to acommon coordinate frame when the universal sensor assembly 104 includessensors of multiple sensor modalities, it should be appreciated that, insome embodiments, the universal sensor assembly 104 may include only onesensor and/or one sensor modality (e.g., only the set of one or moreLiDAR sensors 108 or only the set of camera sensors 110) and thus wouldbe calibrated alone or with respect only to other sensors of the samesensor modality.

In certain embodiments, to further reduce complexity and facilitatesensor data and vehicle data collection by a central system, althoughnot illustrated, a compute system of the vehicle 102 may include one ormore communication ports (e.g., universal synchronous asynchronousreceiver transmitter (USART) port, serial peripheral interface (SPI)port, ethernet port, universal serial bus (USB) port, local interconnectnetwork (LIN) port, and so forth) in which one or more portable storagedevices may be installed thereinto. For example, in some embodiments,the one or more portable storage devices may include, for example, asolid-state memory device (e.g., NAND flash) that may be installed intothe communication ports to record or download vehicle data and sensordata of the vehicle 102 locally (e.g., at the vehicle) until indicatingthat its storage capacity is reached. The memory device may be thenmanually removed and replaced (e.g., by instructing and/or driving thevehicle 102 to a centralized location and replacing the memory devicewith another memory device), thus eliminating any cumbersome tasks toinefficiently transmit the vehicle data over wireless networks. This mayincrease scalability and data management efficiency for an entire fleetof various types of vehicles 102.

FIGS. 2A and 2B illustrate respective aerial-view diagrams 200A and 200Bof embodiments of the sensor coverages of the set of one or more LiDARsensors 108 and the sight coverages of the set of camera sensors 110that may serve as a base model sensor FOV for various types of vehicles102, in accordance with the presently disclosed embodiments.Specifically, the aerial-view diagrams 200A and 200B of embodiments ofthe sensor coverages correspond to the sensor FOVs for the set of one ormore LiDAR sensors 108 and the set of camera sensors 110 of theuniversal sensor assembly 104 as discussed above with respect to FIG. 1.However, while the aerial-view diagrams 200A and 200B of embodiments ofthe sensor coverages correspond to the sensor FOVs for the set of one ormore LiDAR sensors 108 and the set of camera sensors 110 of theuniversal sensor assembly 104, it should be appreciated that, in someembodiments, the universal sensor assembly 104 may include only onesensor and/or one sensor modality (e.g., only the set of one or moreLiDAR sensors 108 or only the set of camera sensors 110) and itsrespective FOV. As depicted, the sensor coverages 202 and 204corresponding to the set of one or more LiDAR sensors 108 may include anunoccluded, sweeping 360° FOV of, for example, the environment 100surrounding the vehicle 102. In certain embodiments, the set of one ormore LiDAR sensors 108 may operate in conjunction for purposes ofredundancy, and thus the sensor coverage 202 and the sensor coverage 204may, in some embodiments, include identical and/or nearly identicalviews of the environment 100 surrounding the vehicle 102, for example.As further depicted, the sight coverages 206, 208, 210, 212, and 214 maycorrespond to wide cameras of the set of camera sensors 110, and thusmay be suitable for capturing, for example, the widest possible view ofthe environment 100 per image frame. On the other hand, the sightcoverages 216 and 218 may correspond to a set of traffic cameras of theset of camera sensors 110, and may thus capture, for example, onlyspecific objects (e.g., traffic, traffic lights, traffic signals,traffic signs).

In one embodiment, for the purposes of redundancy and precision, thesight coverages 216 and 218 may include at least some overlap with thesight coverage 206 (e.g., wide FOV), as illustrated. Similarly, thesight coverages 220 and 222 may respectively correspond to a set ofnarrow cameras of the set of camera sensors 110, and thus may besuitable for capturing, for example, specific objects and/or aspects ofthe environment 100 with the highest possible precision and resolutionper image frame. In another embodiment, for the purposes of redundancyand precision, the sight coverages 220 and 222 may include at least someoverlap with the sight coverages 208 and 214 (e.g., wide FOV),respectively. It should be appreciated that while one or more of thesight coverages 206-222 may include at least some overlap with eachother, none of the sight coverages 206-222 may overlap and/or interferewith the sensor coverages 202 and 204. In certain embodiments, becausethe set of one or more LiDAR sensors 108 may be mounted at a heighthigher than that of the set of camera sensors 110, any possibleocclusion and/or interferences between the sensor coverages 202 and 204and the sight coverages 206-222 may be precluded. In certainembodiments, in accordance with the presently disclosed techniques, thesensor coverages 202 and 204 corresponding to the set of one or moreLiDAR sensors 108 and the sight coverages 206-222 corresponding to theset of camera sensors 110 may include an unoccluded, sweeping 360° FOVof, for example, the environment 100 surrounding the vehicle 102regardless of the different types of vehicles 102 the universal sensorassembly 104 may be mounted upon.

FIGS. 3A and 3B illustrate a universal sensor assembly 300A and auniversal sensor assembly 300B, respectively, for autonomous orsemi-autonomous vehicles, in accordance with the presently disclosedembodiments. In certain embodiments, a universal sensor suite 302A mayinclude a baseplate 304. For example, in certain embodiments, thebaseplate 304 may include, for example, a stiffened and flat metal(e.g., aluminum, aluminum alloy, anodized aluminum, copper, copper-cladinvar, and so forth) baseplate that may be utilized as a supportstructure for the set of one or more LiDAR sensors 108 and the set ofcamera sensors 110 to impart a common coordinate frame for the set ofone or more LiDAR sensors 108 and the set of camera sensors 110.Specifically, in some embodiments, the baseplate 304 may impart a commoncoordinate frame (e.g., a singular measurement reference frame) by whicha sensor calibration and/or sensor data fusion of the set of one or moreLiDAR sensors 108 and the set of camera sensors 110 may be performedbased thereon. As previously noted above with respect to FIGS. 1, 2A,and 2B, while the set of one or more LiDAR sensors 108 and the set ofcamera sensors 110 of the universal sensor suite 302A, 302B may becalibrated to a common coordinate frame when the universal sensor suite302A, 302B includes sensors of multiple sensor modalities, it should beappreciated that, in some embodiments, the universal sensor suite 302A,302B may include only one sensor and/or one sensor modality (e.g., onlythe set of one or more LiDAR sensors 108 or only the set of camerasensors 110) and thus would be calibrated alone or with respect only toother sensors of the same sensor modality.

In certain embodiments, the universal sensor suite 302A may include oneor more detachable attachment mechanisms 306A and 306B that may beconnected to the outer portion (e.g., along the edges, along theperimeter, or positioned at each corner) of the undersurface of thebaseplate 304. Specifically, as further depicted, the one or moredetachable attachment mechanisms 306A and 306B may be positioned betweenthe baseplate 304 and the rooftop 106 of the vehicle 102 to removablycouple the baseplate 304 to the rooftop 106 of the vehicle 102, forexample. In certain embodiments, the one or more detachable attachmentmechanisms 306A and 306B may include, for example, one or moreindustrial-grade suction devices (e.g., vacuum pump suction cups),industrial-grade magnetic devices, industrial-grade Velcro fasteners(e.g., tape, strip, and so forth), or one or more dissolvable adhesives.In certain embodiments, the one or more detachable attachment mechanisms306A and 306B may be suited to compress or to deform (e.g., to suction(remove air gap), to stick, or to magnetize to the rooftop 106 of thevehicle 102) in a downward direction to removably secure the baseplate304 to the rooftop 106 of the vehicle 102. In certain embodiments, theone or more attachment mechanisms 306A and 306B may be configured to beeasily removable from the rooftop 106 of the vehicle 102 in anon-destructive manner (e.g., without physically damaging the universalsensor assembly 300A).

In certain embodiments, to ensure universality of the mechanicalproperties (e.g., rigidity, flatness, stability, determinacy, and soforth) irrespective of vehicle 102 and/or vehicle 102 type (e.g., carvs. truck vs. minivan vs. SUV), the universal sensor suite 302A may alsoinclude one or more rigid support components 308A, 308B, and 308C thatmay be mounted to the inner portion (e.g., toward the center) of theundersurface of the baseplate 304. In certain embodiments, the rigidsupport components 308A, 308B, and 308C may include a high-densitymaterial, such as a high-density rubber, a high-density foam, ahigh-density fiber, a high-density polymer (e.g., high-densitypolyethylene (HDPE), high-density polycarbonate, high-density nylon,high-density polystyrene, high-density polypropylene, and so forth), ahigh-density ceramic (e.g., high-density alumina, high-densityporcelain), a high-density composite, a high-density alloy, or othersuitable high-density material that may be utilized, for example, to atleast partially counteract the compression or deformation of the one ormore detachable attachment mechanisms 306A and 306B in the downwarddirection so as to increase a rigidity with respect to the baseplate304. For example, in one embodiment, the one or more detachableattachment mechanisms 306A and 306B may include one or more vacuum pumpsuction cups. In such an embodiment, as air is removed from underneaththe suction cup (e.g., removing air gap) to secure the detachableattachment mechanisms 306A and 306B to the rooftop of the vehicle 102,the detachable attachment mechanisms 306A and 306B may potentiallyexperience at least some vertical deformation or compression during, forexample, the operation of the vehicle 102. To counteract this verticaldeformation or compression, the rigid support components 308A, 308B, and308C may include a high-density material mounted to the undersurface ofthe baseplate 304 to establish a rigid and stiff support (e.g., floor)that limits and reduces the vertical compression of the detachableattachment mechanisms 306A and 306B. For example, in one embodiment, therigid support components 308A, 308B, and 308C may include a greaterFlexural modulus of elasticity (e.g., a measure of a material stiffnessand/or resistance to bend when a force is applied perpendicular to oneor more surfaces) as compared to the detachable attachment mechanisms306A and 306B. In another embodiment, the rigid support components 308A,308B, and 308C may include a greater Tensile modulus of elasticity(e.g., a measure of a materials flexibility along an axis of strain) ascompared to the detachable attachment mechanisms 306A and 306B.

Indeed, in some embodiments, as certain vibrations and/or other dynamicmotions may be expected to occur over the lifetime and during theoperation of the vehicle 102, the rigid support components 308A, 308B,and 308C may be designed with a predetermined rigidity (e.g., apredetermined Flexural modulus of elasticity or a predetermined Tensilemodulus of elasticity), such that the baseplate 304 may be allowed somemovement as the vehicle 102 travels without any disturbances to, forexample, the calibration and/or pre-calibration of the set of one ormore LiDAR sensors 108 and the set of camera sensors 110. That is, insome embodiments, the rigid support components 308A, 308B, and 308C maybe provided to ensure that a relative motion between the baseplate 304and the vehicle 102 remains fixed (e.g., such that the baseplate 304 andthe vehicle 102 may move in a steady motion together and concurrently)during the operation of the vehicle 102. In certain embodiments, therigid support components 308A, 308B, and 308C may include aconical-shaped, high-density material (e.g., a high-density rubber, ahigh-density foam, a high-density fiber, a high-density polymer, ahigh-density ceramic, a high-density composite, a high-density alloy,and so forth) for added rigidity, resistance, and strength. For example,in one embodiment, the rigid support components 308A, 308B, and 308C maybe conical-shaped, such that the rigidity established and/or reinforcedby the rigid support components 308A, 308B, and 308C may increase overthe surface area of the rigid support components 308A, 308B, and 308C.In this way, as the attachment mechanisms 306A and 306B compress ordeform at least some, the conical-shaped rigid support components 308A,308B, and 308C may give way to some compression as well (e.g., abouthalfway), but only to a certain limit as the rigidity of theconical-shaped rigid support components 308A, 308B, and 308C mayincrease linearly or quasi-linearly with the surface area of theconical-shaped rigid support components 308A, 308B, and 308C until nomore compression or deformation is possible (e.g., due to the stiffnessand rigidity of the rigid support components 308A, 308B, and 308C withrespect to the baseplate 304) In other embodiments, the rigid supportcomponents 308A, 308B, and 308C may be cylindrically-shaped,squared-shaped, round-shaped, cubically-shaped, spherically-shaped, orother similar geometry that may be suitable to support a portion of theload of the baseplate 304 and to at least partially counteract thecompression or deformation of the one or more detachable attachmentmechanisms 306A and 306B in the downward direction so as to increase arigidity with respect to the baseplate 304. In one embodiment, each ofthe rigid support components 308A, 308B, and 308C may include the samegeometry with respect to each other. In another embodiment, each of therigid support components 308A, 308B, and 308C may include a differentgeometry with respect to each other. In some embodiments, the rigidsupport components 308A, 308B, and 308C and/or attachment mechanisms306A and 306B may be adjustable such that the rigid support components308A, 308B, and 308C and/or the attachment mechanisms 306A and 306B maybe suitable for each and every type of vehicle 102.

In certain embodiments, as depicted by FIG. 3B, a universal sensor suite302B may include one or more removable support structures 310A, 310B(e.g., supporting legs) for accurate optimal positioning and placementof the universal sensor assembly 300A onto the rooftop 106 of thevehicle 102. In some embodiments, the removable support structures 310A,310B may include any of various sets of removable support structures310A, 310B (e.g., supporting legs). In certain embodiments, theremovable support structures 310A, 310B may include, for example, afirst end 312A, 312B that may be suitable for detachably mounting to thebaseplate 304 and a second end 314A, 314B capable of being detachablymounting to the rooftop 106 of the vehicle 102 and/or to one or moredetachable attachment mechanisms 306A and 306B. As will be furtherappreciated with respect to FIG. 4, the removable support structures310A, 310B may include any of various sets of removable supportstructures 310A, 310B (e.g., supporting legs) that may be selectedand/or deployed based on vehicle 102 physical dimensions, such as therooftop size and style, width, vehicle 102 height (e.g., measured fromrooftop to ground), flatness, amount of suspension travel, and so forth.In other words, the removable support structures 310A, 310B may bespecific one or more particular types of vehicle 102.

FIG. 4 illustrates a vehicle factory or maintenance service area 400, inaccordance with the presently disclosed embodiments. In certainembodiments, the present techniques may not only provide a universalsensor suite 302 that is both easily removable and deployable, but byadditionally ensuring the universality of the mechanical properties(e.g., rigidity, flatness, stability, determinacy, and so forth) of thesensor assembly, a number of technical advantages with respect toscalability and increased production efficiency may also be achieved.For example, in certain embodiments, because the universal sensor suite302 may be free of attachment mechanisms (e.g., legs, supportingstructures, stabilizing structures) with dimensions that are specific toonly a particular vehicle 102 model and manufacturer and rooftop design,and further allows for universal and/or one-off sensor calibration, thedeployment of the universal sensor suite 302 to various types ofvehicles (e.g., cars, trucks, minivans, and so forth) may be performedquickly and efficiently utilizing, for example, one or more gantrycranes 402 or other similar mechanisms.

For example, in certain embodiments, the gantry crane 402 may include acentral processing unit (CPU) 404 or other control system and a cranearm 406 (e.g., jib arm) that may be utilized to position the universalsensor suite 302 down onto the rooftops of various types of vehicles(e.g., cars, trucks, minivans, SUVs, and so forth). Although FIG. 4illustrates the gantry crane 402 as an arm crane, it should be notedthat the gantry crane 402 may also be a structured ⅔ axis gantry cranein order to provide accurate control and positioning of the universalsensor suite 302. In certain embodiments, the CPU 404 or other controlsystem may monitor different types of vehicles 102 (e.g., differentmakes and models of cars, trucks, minivans, SUVs, and so forth) as thedifferent types of vehicles 102 arrive at the vehicle factory ormaintenance service area 400. For example, in certain embodiments, oneor more cameras 408 may be installed and dispersed throughout variouslocations within and about the vehicle factory or maintenance servicearea 400 that may be utilized to capture vehicle 102 physical dimensionsand/or other data about vehicles 102 as the different types of vehicles102 arrive at the vehicle factory or maintenance service area 400. Theone or more cameras 408 may then provide the captured vehicle 102physical dimensions and/or other data about vehicles 102 to the CPU 404for processing. The CPU 404 or other control system may then determine,for example, the most optimal place and position (e.g., frontward,rearward, central, and so forth) on the rooftop for the particular typeof vehicle 102 to achieve maximum sensor FOV once the universal sensorsuite 302 is deployed to the rooftop of the vehicle 102.

In certain embodiments, the CPU 404 or other control system maydetermine the most optimal place and position for the universal sensorsuite 302 based on, for example, vehicle 102 physical dimensions, suchas the rooftop size, style, width, vehicle 102 height (e.g., measuredfrom rooftop to ground), flatness, amount of suspension travel, and soforth. The CPU 404 or other control system may then position the cranearm 406 (e.g., jib arm), and, by extension, the universal sensor suite302 at the place and position determined to be most optimal. In oneembodiment, the vehicle 102 may also be moved and/or rotated into theappropriate position by, for example, a rotatable or movable floorplatform that may be included as part of the vehicle factory ormaintenance service area 400. The universal sensor suite 302 may be thenmounted onto the rooftop for the particular type of vehicle 102 quicklyand efficiently by way of the detachable attachment mechanisms 306A,306B. For example, in some embodiments, the gantry crane 402 may deploydozens, hundreds, or thousands of universalized sensor suites 302 to anyof an entire fleet of various types of vehicles 102 that may enter intothe vehicle factory or maintenance service area 400.

In certain embodiments, as further depicted by FIG. 4, it may besuitable to utilize one or more removable support structures 310A, 310B(e.g., supporting legs) for accurate optimal positioning and placementof the universal sensor suite 302. In some embodiments, the removablesupport structures 310A, 310B may include any of various sets ofremovable support structures 310A, 310B (e.g., supporting legs) that maybe selected, for example, from a stockpile, an inventory, or a libraryof removable support structures 310A, 310B of the vehicle factory ormaintenance service area 400. For example, in some embodiments, based onthe vehicle 102 physical dimensions, such as vehicle 102 and rooftop 106height (e.g., measured from rooftop to ground), vehicle 102 and rooftop106 width, vehicle and rooftop position, rooftop angle, amount ofvibration, vehicle dynamics of suspension, vehicle 102 and rooftop 106shape, a vehicle 102 and rooftop 106 contour, vehicle 102 and rooftop106 flatness, vehicle 102 and rooftop 106 style, and so forth, the CPU404 or other control system may select from the stockpile, theinventory, or the library and/or library index the specific removablesupport structures 310A, 310B for that particular vehicle 102.Similarly, in some embodiments, the detachable attachment mechanisms306A, 306B may also include any of various sets that may be selected,for example, from a stockpile, an inventory, or a library of thedetachable attachment mechanisms 306A, 306B of the vehicle factory ormaintenance service area 400. For example, in some embodiments, based onthe vehicle 102 physical dimensions, such as vehicle 102 and rooftop 106height (e.g., measured from rooftop to ground), vehicle 102 and rooftop106 width, vehicle and rooftop position, rooftop angle, amount ofvibration, vehicle dynamics of suspension, vehicle 102 and rooftop 106shape, a vehicle 102 and rooftop 106 contour, vehicle 102 and rooftop106 flatness, vehicle 102 and rooftop 106 style, and so forth, the CPU404 or other control system may select from the stockpile, theinventory, or the library and/or library index the specific and specifictype of detachable attachment mechanisms 306A, 306B most suitable forthat particular vehicle 102. For example, in one embodiment, based onthe vehicle 102 and rooftop 106 surface parameters (e.g., height, width,angle, shape, style, contour, flatness, and so forth), the CPU 404 orother control system may determine that one or more industrial-gradesuction devices (e.g., suction cups) are more suitable for vehicles 102rooftop designs including, for example, sleek panoramic rooftop designs(e.g., panoramic glass rooftops or plexiglass rooftops). In anotherembodiment, based on the vehicle 102 and rooftop 106 surface parameters(e.g., height, width, angle, shape, style, contour, curvature, flatness,and so forth), the CPU 404 or other control system may determine thatone or more industrial-grade magnetic devices (e.g., magnets) are moresuitable for vehicles 102 rooftop designs including, for example, flatmetal or flat fiberglass rooftop designs.

In certain embodiments, as further depicted by FIG. 4, the universalsensor suite 302 may be calibrated with respect to a particular vehicle102 while being suspended in open air by the gantry crane 402. Forexample, in some embodiments, when the vehicle 102 drives into thevehicle factory or maintenance service area 400, the gantry crane 402may determine the model and manufacturer of the vehicle 102, and directthe vehicle 102 to travel into a location underneath the crane arm 406(e.g., jib arm) and the universal sensor suite 302. As previously noted,in one embodiment, the vehicle 102 may be moved and/or rotated into thelocation underneath the crane arm 406 (e.g., jib arm) of the gantrycrane 402 and the universal sensor suite 302. The universal sensor suite302 may be then calibrated based on, for example, the vehicle 102physical dimensions, such as vehicle 102 and rooftop 106 height (e.g.,measured from rooftop to ground), vehicle 102 and rooftop 106 width,vehicle 102 and rooftop 106 position, vehicle 102 and rooftop 106 angle,amount of vibration, vehicle 102 dynamics of suspension, vehicle 102 androoftop 106 shape, vehicle 102 and rooftop 106 contour, vehicle 102 androoftop 106 flatness, vehicle 102 and rooftop 106 style, and so forththat may be stored and/or calculated by the CPU 404 and the known XYZcoordinate reference plane and angular referenced established betweenthe gantry crane 402 and the vehicle 102. In this way, by determiningthe vehicle 102 and rooftop 106 physical dimensions, the CPU 404 andgantry crane 402 may ensure that an unoccluded, sweeping 360° FOV andsensor coverage (e.g., thus minimizing or eliminating the possibility ofimpaired functionality of the set of one or more LiDAR sensors 108 andthe set of camera sensors 110) is achieved for all vehicles 102 on whichthe universal sensor suite 302 is to be deployed.

In certain embodiments, to further increase scalability and productionefficiency, for example, for an entire fleet of various types ofvehicles on which the universal sensor assembly is to be deployed, oneor more sensors that may be included as part of the universal sensorassembly may be adjustable to cover multiple sensor sight ranges basedon, for example, vehicle velocity and/or vehicle and vehicle rooftopphysical dimensions. Accordingly, FIG. 5 illustrates an adjustablesensor 500 that pivots based on vehicle speed, in accordance with thepresent embodiments. For example, in certain embodiments, the universalsensor suite 302 may include one or more adjustable LiDAR sensors 502A,502B. In other embodiments, the universal sensor suite 302 may includeany of various adjustable sensors, such as adjustable camera sensors,adjustable IMU sensors, adjustable radar sensors, or other similaradjustable sensors. In certain embodiments, the adjustable LiDAR sensor502B may include a pivotable relative angle (defined with respect to a0° reference plane 511, which is included for the purposes ofillustration). For example, the adjustable LiDAR sensor 502B may bemounted to the pivoting surface 504 and pivot 505 (e.g., as part of theuniversal sensor suite 302, such as on the baseplate 304, or as part ofseparate and distinct sensor assembly located on a frontside or backsideportion of the vehicle 102), in which the relative angle of the pivotingsurface 504 may be controlled by a linear actuator 506. In someembodiment in which the adjustable LiDAR sensor 502B is included as partof the universal sensor suite 302, the pivotable relative angle may bedefined with respect to the pivoting surface 504 and pivot 505 disposedon the baseplate 304 of the universal sensor suite 302 (e.g., such thata 90° angle is formed between the adjustable LiDAR sensor 502B in thevertical position and the baseplate 304).

In some embodiments, the linear actuator 506 may include, for example, ahydraulic linear actuator, pneumatic linear actuator, anelectromechanical actuator, or other linear actuator that may besuitable for mechanically operating to cause the adjustable LiDAR sensor502B to pivot from a starting position corresponding to a vertical angleposition 508A (e.g., at angle of approximately 90° and corresponding toa sensor sight range 510A) to an acute angle position 508B (e.g.,corresponding to a sensor sight range 510B) or an acute angle position508C (e.g., corresponding to a sensor sight range 510C) at decreasedvelocities. For example, in one embodiment, the adjustable LiDAR sensor502B may pivot from the vertical angle position 508A (e.g.,corresponding to a sensor sight range 510A) to an acute angle position508B (e.g., corresponding to a sensor sight range 510B) or acute angleposition 508C (e.g., corresponding to a sensor sight range 510C) whenthe vehicle 102 reaches a velocity of approximately 25 mph or lower, forexample.

In certain embodiments, as the velocity of the vehicle 102 increases,the linear actuator 506 may cause the adjustable LiDAR sensor 502B topivot back to the vertical angle position 508A (e.g., at angle ofapproximately 90° and corresponding to a sensor sight range 510A) atincreased velocities. For example, in one embodiment, the adjustableLiDAR sensor 502B may pivot back to the vertical angle position 508A(e.g., corresponding to a sensor sight range 510A) when the vehiclereaches a velocity of approximately 60 mph or higher, for example. Forexample, in other embodiments, the linear actuator 506 may also beconfigured to mechanically operate to cause the adjustable LiDAR sensor502B to pivot in accordance with vehicle 102 velocities over acontinuous range of relative angles (e.g., over relative angles from 0°to 90° defined with respect to a 0° reference plane 511, in which therelative angles varies along with changes in vehicle 102 velocity). Inthis way, the adjustable LiDAR sensor 502B may cover all of the sightranges 510A, 510B, 510C, and so forth in an efficient manner. Moreover,because the adjustable LiDAR sensor 502B may include a mechanicaloperation (e.g., as opposed to an electronic and/or computer-basedoperation), the adjustable LiDAR sensor 502B may exhibit faster responsetimes, and thus increase the overall safety response of the vehicle 102.Additionally, in some embodiments, the adjustable LiDAR sensor 502B maybe adjusted based partly on the vehicle 102 and vehicle rooftop 106physical dimensions (e.g., adjustment of the pivoting angle range of theadjustable LiDAR sensor 502B in view of one or more vehicle rooftop 106physical dimensions).

In certain embodiments, the adjustable LiDAR sensor 502B may alsoinclude a failsafe mechanism (e.g., hydraulic ball and screw mechanism514 on a first end of the pivoting surface 504 of the adjustable LiDARsensor 502B and a compression spring 516 on a second end of the pivotingsurface 504 of the adjustable LiDAR sensor 502B) to cause the adjustableLiDAR sensor 502B to tilt permanently into the acute angle position 508C(e.g., corresponding to a sensor sight range 510C) to perceive objectsthat may become apparent directly in front of the vehicle 102, forexample, in the case of a misoperation or operator-determined temporarysuspension of the pivoting mechanism of the adjustable LiDAR sensor502B. This may allow the adjustable LiDAR sensor 502B to perceivenear-field objects (e.g., typically corresponding to times the vehicle102 is operating at velocities below 25 mph and being suited forperceiving objects within a distance of approximately 50 m) even in thecase in which, for example, a misoperation or an operator-determinedtemporary suspension of the pivoting mechanism of the adjustable LiDARsensor 502B occurs.

As an example of the presently disclosed embodiments, a vehicle 102 maybegin traveling from a red light (e.g., at rest). Thus, while idling atthe red light, the adjustable LiDAR sensor 502B may be positioned to theacute angle position 508C (e.g., corresponding to a sensor sight range510C) to perceive events directly in front of the vehicle 102, forexample. Continuing, as the vehicle 102 accelerates from the red lightand reaches a velocity of, for example, 60 mph, the adjustable LiDARsensor 502B may begin transitioning from the acute angle position 508C(e.g., corresponding to a sensor sight range 510C) to the angle position508A (e.g., corresponding to a sensor sight range 510A) to perceiveevents that may be occurring further down the road or highway on whichthe vehicle is traveling. In some embodiments, the adjustable LiDARsensor 502B may commence pivoting once a threshold velocity (e.g., alower threshold velocity and an upper threshold velocity is reached bythe vehicle 102). In other embodiments, the adjustable LiDAR sensor 502Bmay continuous pivot along with any change in velocity of the vehicle102 threshold velocity (e.g., the pivot angle of the adjustable LiDARsensor 502B may vary with vehicle 102 velocity). Thus, in accordancewith the presently disclosed techniques, the universal sensor suite 302may include one or more sensors that may be adjustable to cover multiplesensor sight ranges based on, for example, vehicle 102 velocity and/orvehicle 102 and vehicle rooftop 106 physical dimensions. This mayfurther markedly increase scalability and production efficiency, forexample, for an entire fleet of various types of vehicles 102 on whichthe universal sensor suite 302 is to be deployed. Additionally, byincluding the adjustable LiDAR sensor 502B that pivots based on vehiclespeed, resources of the vehicle 102 may be maximized in that the vehicle102 may be suitable for prioritizing sensed or perceived driving eventsthat it may be immediately and actually responsive to (e.g., aparticular far-field possible event at higher speeds and a particularfar-field possible event at lower speeds). In this way, instead ofexpending resources to focus on all possible events, the vehicle 102 maydevote its limited resources to focusing on those events that it may beimmediately and actually responsive to.

Turning now to FIGS. 6-9, which each illustrates a method and flowchartthat describes one or more embodiments of the present techniques forproviding a universal sensor assembly for autonomous or semi-autonomousvehicles, and more particularly to a universal sensor assembly forincreasing scalability and production efficiency for an entire fleet ofvarious types of autonomous or semi-autonomous vehicles on which theuniversal sensor assembly is to be deployed. For example, as will befurther appreciated below, FIG. 6 illustrates a flow diagram of a methodfor including detachable attachment mechanisms and support components aspart of the universal sensor assembly, FIG. 7 illustrates a flow diagramof a method for including detachable attachment mechanisms, supportcomponents, and removable support structures as part of the universalsensor assembly, FIG. 8 illustrates a flow diagram of a method forincluding an adjustable or pivotable sensor as part of the universalsensor assembly, and FIG. 9 illustrates a flow diagram of a method forfacilitating the collection of sensor data and vehicle data that may becaptured by one or more sensors included in the universal sensorassembly. Accordingly, the present techniques may markedly increasescalability and production efficiency, for example, for an entire fleetof various types of vehicles on which the universal sensor assembly isto be deployed.

FIG. 6 illustrates a flow diagram of a method 600 for providing auniversal sensor assembly including a set of detachable attachmentmechanisms and a set of support components for mounting on an autonomousor semi-autonomous vehicle, in accordance with the presently disclosedembodiments. The method 600 may begin at block 602 determining one ormore surface parameters associated with a surface of a vehicle. Forexample, in certain embodiments, as discussed above with respect to FIG.4, when the vehicle 102 drives into a factory or maintenance servicearea 400, the CPU 404 as part of the gantry crane 402 may determine themodel and manufacturer of the vehicle 102, and direct the vehicle 102 totravel into a location underneath the crane arm 406 (e.g., jib arm) andthe universal sensor suite 302. For example, utilizing the one or morecameras 408, the CPU 404 may determine the vehicle 102 physicaldimensions, such as vehicle 102 and rooftop 106 height (e.g., measuredfrom rooftop to ground), vehicle 102 and rooftop 106 width, vehicle androoftop position, rooftop angle, amount of vibration, vehicle dynamicsof suspension, vehicle 102 and rooftop 106 shape, a vehicle 102 androoftop 106 contour, vehicle 102 and rooftop 106 flatness, vehicle 102and rooftop 106 style, and so forth that may be stored and/or calculatedby the CPU 404.

The method 600 may then continue at block 604 with determining a set ofdetachable attachment mechanisms and a set of support componentsconfigured to support a baseplate of a universal sensor assembly basedon the one or more surface parameters. For example, in certainembodiments, the universal sensor suite 302A may include one or moredetachable attachment mechanisms 306A and 306B that may be connected to,for example, the edges of the bottom surface of the baseplate 304 of theuniversal sensor suite 302A. As previously discussed above with respectto FIG. 3A, the one or more detachable attachment mechanisms 306A and306B may include one or more industrial-grade suction devices (e.g.,vacuum pump suction cups), industrial-grade magnetic devices,industrial-grade Velcro fasteners (e.g., tape, strip, and so forth), orone or more dissolvable adhesives that may be suitable for coupling thebaseplate 304 of the universal sensor suite 302A to, for example, therooftop 106 of the vehicle 102 (e.g., such that the one or moredetachable attachment mechanisms 306A and 306B may be positioned betweenthe baseplate 304 and the rooftop 106 of the vehicle 102).

In certain embodiments, as vibrations and/or other dynamic motions maybe expected to occur during the operation of the vehicle 102, thebaseplate 304 may include the one or more detachable attachmentmechanisms 306A and 306B and rigid support components 308A, 308B, and308C that may be designed with a predetermined rigidity (e.g., apredetermined Flexural modulus of elasticity or a predetermined Tensilemodulus of elasticity), such that the baseplate 304 may be allowed somevertical movement and/or vertical deformation (e.g., due to the one ormore detachable attachment mechanisms 306A and 306B experiencing somevertical deformation or compression) as the vehicle 102 travels withoutany disturbances to, for example, the rigidity (e.g., stiffness) of thebaseplate 304, and, by extension, the sensor calibration of the firstand second sets of sensors (e.g., LiDARs, cameras) mounted onto thebaseplate 304. Specifically, as previously discussed, the rigid supportcomponents 308A, 308B, and 308C may stiffen the baseplate 304, such thateven if the one or more detachable attachment mechanisms 306A and 306Bexperiences some vertical deformation or compression, the verticaldeformation or compression may be limited and mitigated by the rigidity(e.g., stiffness) provided by the rigid support components 308A, 308B,and 308C.

The method 600 may then continue at block 606 with mounting thebaseplate to the set of detachable attachments and the set supportcomponents to form the universal sensor assembly and concluding at block608 with mounting the universal sensor assembly to the surface of thevehicle. For example, the universal sensor suite 302, including thebaseplate 304, the one or more detachable attachment mechanisms 306A and306B, and the rigid support components 308A, 308B, and 308C, may bemounted (e.g., positioned down) onto the vehicle 102. In one embodiment,the universal sensor suite 302 may be mounted manually by, for example,one or more personnel of the factory or maintenance service area 400. Inanother embodiment, the universal sensor suite 302 may be quickly andefficiently machine mounted by, for example, the gantry crane 402. Inthis way, the universal sensor suite 302 may be switched from one typeof vehicle (e.g., car) to another type of vehicle (e.g., truck) withoutthe individual sensors (e.g., LiDAR sensors, camera sensors) mountedonto the baseplate 304 having to be redesigned or recalibrated. Instead,only the universal sensor suite 302 itself would be calibrated to theparticular vehicle type (e.g., car vs. truck vs. minivan vs.semi-trailer, etc.) based on, for example, vehicle height, position,angle, amount of vibration, vehicle dynamics of suspension, and soforth. Specifically, universal sensor suite 302 itself may be calibratedbased on, for example, the vehicle 102 physical dimensions, such asvehicle 102 and rooftop 106 height (e.g., measured from rooftop toground), vehicle 102 and rooftop 106 width, vehicle 102 and rooftop 106position, vehicle 102 and rooftop 106 angle, amount of vibration,vehicle 102 dynamics of suspension, vehicle 102 and rooftop 106 shape,vehicle 102 and rooftop 106 contour, vehicle 102 and rooftop 106flatness, vehicle 102 and rooftop 106 style, and so forth that may bestored and/or calculated by the CPU 404 and the known XYZ coordinatereference plane and angular referenced established between the gantrycrane 402 and the vehicle 102. In this way, by determining the vehicle102 and rooftop 106 physical dimensions, the CPU 404 and gantry crane402 may ensure that an unoccluded, sweeping 360° FOV and sensor coverage(e.g., thus minimizing or eliminating the possibility of impairedfunctionality of the set of one or more LiDAR sensors 108 and the set ofcamera sensors 110) is achieved for all vehicles 102 and vehicle 102types on which the universal sensor suite 302 is to be deployed.Moreover, by the one or more attachment mechanisms 306A and 306B beingselectable based on the particular vehicle 102 on which the universalsensor suite 302 is to be deployed, the universal sensor suite 302 maybe configured to be easily removable from the rooftop 106 of the vehicle102 in a non-destructive manner (e.g., without physically damaging theuniversal sensor assembly 300A).

FIG. 7 illustrates a flow diagram of a method 700 for providing auniversal sensor assembly including a set of detachable attachmentmechanisms, a set of support components, and a set of removable supportstructures for mounting on an autonomous or semi-autonomous vehicle, inaccordance with the presently disclosed embodiments. The method 700 maybegin at block 702 with determining one or more surface parametersassociated with a rooftop of a vehicle. For example, in certainembodiments, as discussed above with respect to FIG. 4, when the vehicle102 drives into a factory or maintenance service area 400, the CPU 404as part of the gantry crane 402 may determine the model and manufacturerof the vehicle 102, and direct the vehicle 102 to travel into a locationunderneath the crane arm 406 (e.g., jib arm) and the universal sensorsuite 302. For example, utilizing the one or more cameras 408, the CPU404 may determine the vehicle 102 physical dimensions, such as vehicle102 and rooftop 106 height (e.g., measured from rooftop to ground),vehicle 102 and rooftop 106 width, vehicle and rooftop position, rooftopangle, amount of vibration, vehicle dynamics of suspension, vehicle 102and rooftop 106 shape, a vehicle 102 and rooftop 106 contour, vehicle102 and rooftop 106 flatness, vehicle 102 and rooftop 106 style, and soforth that may be stored and/or calculated by the CPU 404.

The method 700 may then continue at block 704 with determining a set ofdetachable attachment mechanisms and a set of support componentsconfigured to support a baseplate of a universal sensor assembly. Forexample, as previously discussed above, the one or more detachableattachment mechanisms 306A and 306B may include one or moreindustrial-grade suction devices (e.g., vacuum pump suction cups),industrial-grade magnetic devices, industrial-grade Velcro fasteners(e.g., tape, strip, and so forth), or one or more dissolvable adhesivesthat may be suitable for coupling the baseplate 304 of the universalsensor suite 302A to, for example, the rooftop 106 of the vehicle 102.Similarly, the rigid support components 308A, 308B, and 308C may includea number of support components that may be designed with a predeterminedrigidity (e.g., a predetermined Flexural modulus of elasticity or apredetermined Tensile modulus of elasticity), such that the baseplate304 may be allowed some vertical movement and/or vertical deformation(e.g., due to the one or more detachable attachment mechanisms 306A and306B experiencing some vertical deformation or compression) as thevehicle 102 travels.

The method 700 may then continue at block 706 with selecting a set ofremovable support structures from a library of removable supportstructures based on the one or more surface parameters associated withthe rooftop of the vehicle. For example,

In some embodiments, the removable support structures 310A, 310B mayinclude any of various sets of removable support structures 310A, 310B(e.g., supporting legs) that may be selected, for example, from astockpile, an inventory, or a library of removable support structures310A, 310B of the vehicle factory or maintenance service area 400. Forexample, in some embodiments, based on the vehicle 102 physicaldimensions, such as vehicle 102 and rooftop 106 height (e.g., measuredfrom rooftop to ground), vehicle 102 and rooftop 106 width, vehicle androoftop position, rooftop angle, amount of vibration, vehicle dynamicsof suspension, vehicle 102 and rooftop 106 shape, a vehicle 102 androoftop 106 contour, vehicle 102 and rooftop 106 flatness, vehicle 102and rooftop 106 style, and so forth, the CPU 404 or other control systemmay select from the stockpile, the inventory, or the library and/orlibrary index the specific removable support structures 310A, 310B forthat particular vehicle 102. Similarly, in some embodiments, thedetachable attachment mechanisms 306A, 306B may also include any ofvarious sets that may be selected, for example, from a stockpile, aninventory, or a library of the detachable attachment mechanisms 306A,306B of the vehicle factory or maintenance service area 400. Forexample, in some embodiments, based on the vehicle 102 physicaldimensions, such as vehicle 102 and rooftop 106 height (e.g., measuredfrom rooftop to ground), vehicle 102 and rooftop 106 width, vehicle androoftop position, rooftop angle, amount of vibration, vehicle dynamicsof suspension, vehicle 102 and rooftop 106 shape, a vehicle 102 androoftop 106 contour, vehicle 102 and rooftop 106 flatness, vehicle 102and rooftop 106 style, and so forth, the CPU 404 or other control systemmay select from the stockpile, the inventory, or the library and/orlibrary index the specific and specific type of detachable attachmentmechanisms 306A, 306B most suitable for that particular vehicle 102. Forexample, in one embodiment, based on the vehicle 102 and rooftop 106surface parameters (e.g., height, width, angle, shape, style, contour,flatness, and so forth), the CPU 404 or other control system maydetermine that one or more industrial-grade suction devices (e.g.,suction cups) are more suitable for vehicles 102 rooftop designsincluding, for example, sleek panoramic rooftop designs (e.g., panoramicglass rooftops or plexiglass rooftops). In another embodiment, based onthe vehicle 102 and rooftop 106 surface parameters (e.g., height, width,angle, shape, style, contour, curvature, flatness, and so forth), theCPU 404 or other control system may determine that one or moreindustrial-grade magnetic devices (e.g., magnets) are more suitable forvehicles 102 rooftop designs including, for example, flat metal or flatfiberglass rooftop designs.

The method 700 may then continue at block 708 with mounting thebaseplate to the set support components, the set of removable supportstructures, and the set of detachable attachment mechanisms to form theuniversal sensor assembly. For example, in certain embodiments, asdiscussed above with respect to FIG. 3B, a universal sensor suite 302Bmay include one or more removable support structures 310A, 310B (e.g.,supporting legs) for accurate optimal positioning and placement of theuniversal sensor assembly 300A onto the rooftop 106 of the vehicle 102.As previously noted, the removable support structures 310A, 310B mayinclude any of various sets of removable support structures 310A, 310B(e.g., supporting legs), which may include, for example, a first end312A, 312B that may be suitable for detachably mounting to the baseplate304 and a second end 314A, 314B capable of being detachably mounting tothe rooftop 106 of the vehicle 102 and/or to the one or more detachableattachment mechanisms 306A and 306B.

The method 700 may then conclude at block 710 with mounting theuniversal sensor assembly to the rooftop of the vehicle. For example,the universal sensor suite 302, including the baseplate 304, the one ormore detachable attachment mechanisms 306A and 306B, the rigid supportcomponents 308A, 308B, and 308C, and the one or more removable supportstructures 310A, 310B may be mounted (e.g., positioned down via the oneor more removable support structures 310A, 310B and the one or moredetachable attachment mechanisms 306A and 306B) onto the vehicle 102. Inone embodiment, the universal sensor suite 302 may be mounted manuallyby, for example, one or more personnel of the factory or maintenanceservice area 400. In another embodiment, the universal sensor suite 302may be quickly and efficiently machine mounted by, for example, thegantry crane 402. In this way, the universal sensor suite 302 may beswitched from one type of vehicle (e.g., car) to another type of vehicle(e.g., truck) without the individual sensors (e.g., LiDAR sensors,camera sensors) mounted onto the baseplate 304 having to be redesignedor recalibrated. Instead, only the universal sensor suite 302 itselfwould be calibrated to the particular vehicle type (e.g., car vs. truckvs. minivan vs. semi-trailer, etc.) based on, for example, vehicleheight, position, angle, amount of vibration, vehicle dynamics ofsuspension, and so forth. Specifically, universal sensor suite 302itself may be calibrated based on, for example, the vehicle 102 physicaldimensions, such as vehicle 102 and rooftop 106 height (e.g., measuredfrom rooftop to ground), vehicle 102 and rooftop 106 width, vehicle 102and rooftop 106 position, vehicle 102 and rooftop 106 angle, amount ofvibration, vehicle 102 dynamics of suspension, vehicle 102 and rooftop106 shape, vehicle 102 and rooftop 106 contour, vehicle 102 and rooftop106 flatness, vehicle 102 and rooftop 106 style, and so forth that maybe stored and/or calculated by the CPU 404 and the known XYZ coordinatereference plane and angular referenced established between the gantrycrane 402 and the vehicle 102. In this way, by determining the vehicle102 and rooftop 106 physical dimensions, the CPU 404 and gantry crane402 may ensure that an unoccluded, sweeping 360° FOV and sensor coverage(e.g., thus minimizing or eliminating the possibility of impairedfunctionality of the set of one or more LiDAR sensors 108 and the set ofcamera sensors 110) is achieved for all vehicles 102 and vehicle 102types on which the universal sensor suite 302 is to be deployed.Moreover, by the one or more attachment mechanisms 306A and 306B and/orthe removable support structures 310A, 310B being swappable andselectable based on the particular vehicle 102 on which the universalsensor suite 302 is to be deployed, the universal sensor suite 302 maybe configured to be easily removable from the rooftop 106 of the vehicle102 in a non-destructive manner (e.g., without physically damaging theuniversal sensor assembly 300B).

FIG. 8 illustrates a flow diagram of a method 800 for including anadjustable or pivotable sensor as part of the universal sensor assembly,in accordance with the presently disclosed embodiments. The method 800may begin at block 802 with determining a current operation of avehicle. For example, the vehicle 102 may be operated within theenvironment 100 (e.g. a real-world environment). The method 800 may thencontinue at block 804 with detecting one or more measurement parametersindicating a change in velocity of the vehicle based on the currentoperation. For example, the measurement parameters may include a directvehicle 102 velocity, a direct vehicle 102 acceleration, a vehicle 102throttle position, a vehicle 102 torque, a vehicle 102 fuel range, avehicle 102 charge range, a vehicle 102 clutch engagement and/ordisengagement, a vehicle 102 driving mode, a vehicle 102 air-to-fuelratio, or other measurement parameters that may indicate a change invelocity of the vehicle 102.

The method 800 may then continue at block 806 with altering a positionof an actuator coupled to a first sensor to a first predeterminedposition to cause the first sensor to tilt in a first direction when thechange in velocity corresponds to a first change in velocity. Forexample, in certain embodiments, the universal sensor suite 302 mayinclude one or more adjustable LiDAR sensors 502A, 502B. In otherembodiments, the universal sensor suite 302 may include any of variousadjustable sensors, such as adjustable camera sensors, adjustable IMUsensors, adjustable radar sensors, or other similar adjustable sensors.In certain embodiments, the LiDAR sensor 502B may include a pivotablerelative angle (defined with respect to a 0° reference plane 511, whichis included for the purposes of illustration). For example, theadjustable LiDAR sensor 502B may be mounted to the pivoting surface 504and pivot 505 (e.g., as part of the universal sensor suite 302, such ason the baseplate 304, or as part of separate and distinct sensorassembly located on a frontside or backside portion of the vehicle 102),in which the relative angle of the pivoting surface 504 may becontrolled by a linear actuator 506.

In some embodiments, the linear actuator 506 may include, for example, ahydraulic linear actuator, pneumatic linear actuator, anelectromechanical actuator, or other linear actuator that may besuitable for mechanically operating to cause the adjustable LiDAR sensor502B to pivot from a starting position corresponding to a vertical angleposition 508A (e.g., at angle of approximately 90° and corresponding toa sensor sight range 510A) to an acute angle position 508B (e.g.,corresponding to a sensor sight range 510B) or an acute angle position508C (e.g., corresponding to a sensor sight range 510C) at decreasedvelocities. For example, in one embodiment, the adjustable LiDAR sensor502B may pivot from the vertical angle position 508A (e.g.,corresponding to a sensor sight range 510A) to an acute angle position508B (e.g., corresponding to a sensor sight range 510B) or acute angleposition 508C (e.g., corresponding to a sensor sight range 510C) atvelocities lower than approximately 25 mph, for example.

In certain embodiments, as the velocity of the vehicle 102 increases,the linear actuator 506 may cause the adjustable LiDAR sensor 502B topivot back to the vertical angle position 508A (e.g., at angle ofapproximately 90° and corresponding to a sensor sight range 510A) atincreased velocities. For example, in one embodiment, the adjustableLiDAR sensor 502B may pivot back to the vertical angle position 508A(e.g., corresponding to a sensor sight range 510A) at velocities higherthan approximately 60 mph, for example. The method 800 may then concludeat block 808 with altering the position of the actuator coupled to thefirst sensor to a second predetermined position to cause the firstsensor to tilt in a second direction when the change in velocitycorresponds to a second change in velocity. For example, in otherembodiments, the linear actuator 506 may also be configured tomechanically operate to cause the adjustable LiDAR sensor 502B to pivotin accordance with vehicle 102 velocities over a continuous range ofrelative angles (e.g., over relative angles from 0° to 90° that variesalong with changes in vehicle 102 velocity). In this way, the adjustableLiDAR sensor 502B may cover all of the sight ranges 510A, 510B, 510C,and so forth in an efficient manner. Moreover, because the adjustableLiDAR sensor 502B may include a mechanical operation (e.g., as opposedto an electronic and/or computer-based operation), the adjustable LiDARsensor 502B may exhibit faster response times, and thus increase theoverall safety response of the vehicle 102.

In certain embodiments, the adjustable LiDAR sensor 502B may alsoinclude a failsafe mechanism (e.g., hydraulic ball and screw mechanism514 on a first end of the pivoting surface 504 of the adjustable LiDARsensor 502B and a compression spring 516 on a second end of the pivotingsurface 504 of the adjustable LiDAR sensor 502B) to cause the adjustableLiDAR sensor 502B to tilt permanently into the acute angle position 508C(e.g., corresponding to a sensor sight range 510C) to perceive objectsthat may become apparent directly in front of the vehicle 102, forexample, in the case of a misoperation or operator-determined temporarysuspension of the pivoting mechanism of the adjustable LiDAR sensor502B. This may allow the adjustable LiDAR sensor 502B to perceivenear-field objects (e.g., typically corresponding to times the vehicle102 is operating at velocities below 25 mph and being suited forperceiving objects within a distance of approximately 50 m) even in thecase in which, for example, a misoperation or an operator-determinedtemporary suspension of the pivoting mechanism of the adjustable LiDARsensor 502B occurs. Thus, in accordance with the presently disclosedtechniques, the universal sensor assembly may include one or moresensors that may be adjustable to cover multiple sensor sight rangesbased on, for example, vehicle velocity and/or vehicle and vehiclerooftop physical dimensions. This may further markedly increasescalability and production efficiency, for example, for an entire fleetof various types of vehicles on which the universal sensor assembly isto be deployed. Additionally, by including the adjustable LiDAR sensor502B that pivots based on vehicle speed, resources of the vehicle 102may be maximized in that the vehicle 102 may be suitable forprioritizing sensed or perceived driving events that it may beimmediately and actually responsive to (e.g., a particular far-fieldpossible event at higher speeds and a particular far-field possibleevent at lower speeds). In this way, instead of expending resources tofocus on all possible events, the vehicle 102 may devote its limitedresources to focusing on those events that it may be immediately andactually responsive to.

FIG. 9 is a flow diagram of a method 900 for facilitating the collectionof sensor data and vehicle data that may be captured by one or moresensors included in the universal sensor assembly, in accordance withthe presently disclosed embodiments. The method 900 may begin at block902 with the compute system storing sensor data and vehicle data to aportable memory device connected to a port of a compute system of avehicle. For example, in certain embodiments, to further reducecomplexity and facilitate sensor data and vehicle data collection by aremote central system, a compute system of the vehicle 102 may includeone or more communication ports (e.g., universal synchronousasynchronous receiver transmitter (USART) port, serial peripheralinterface (SPI) port, ethernet port, universal serial bus (USB) port,local interconnect network (LIN) port, and so forth) in which one ormore portable storage devices may be installed thereinto. The method 900may then continue at block 904 with the compute system determining astorage capacity level of the portable memory device.

For example, in some embodiments, the portable memory device mayinclude, for example, a solid-state memory device (e.g., NAND flash)that may be installed into the communication ports to record or downloadvehicle data and sensor data of the vehicle 102 locally (e.g., at thevehicle 102) until indicating that its storage capacity or otherthreshold capacity level is reached. The method 900 may then continue atblock 906 with the compute system generating one or more notificationsin response to determining that the portable memory device that hasreached its maximum storage capacity level or other threshold capacitylevel. The method 900 may then conclude at block 908 with the computesystem transmitting the one or more notifications to a remote centralsystem. For example, the compute system of the vehicle 102 may generateand provide one or more notifications to a remote central system (e.g.,centralized data processing center, a cloud computing based service, oneor more distributed servers, etc.) to indicate that the portable memorydevice has reached its storage capacity and that another portable memorydevice is to be provided to replace the portable memory device. Theportable memory device may be then manually removed from the computesystem of the vehicle 102 and replaced (e.g., by instructing and/ordriving the vehicle 102 to a centralized location and replacing thememory device with another memory device), thus eliminating anycumbersome tasks to inefficiently transmit the vehicle data overwireless networks. This may increase scalability and data managementefficiency for an entire fleet of various types of vehicles.

FIG. 10 illustrates an example computer system 1000 that may be utilizedto perform one or more of the forgoing embodiments as discussed herein.In certain embodiments, one or more computer systems 1000 perform one ormore steps of one or more methods described or illustrated herein. Incertain embodiments, the environment may include various computingentities, such as a user computing device 1030 of a user 1001 (e.g., aride provider or requestor), a transportation management system 1060, anautonomous or semi-autonomous vehicle 1040, and one or more third-partysystem 1070. The computing entities may be communicatively connectedover any suitable network 1010. As an example, and not by way oflimitation, one or more portions of network 1010 may include an ad hocnetwork, an extranet, a virtual private network (VPN), a local areanetwork (LAN), a wireless LAN (WLAN), a wide area network (WAN), awireless WAN (WWAN), a metropolitan area network (MAN), a portion of theInternet, a portion of Public Switched Telephone Network (PSTN), acellular network, or a combination of any of the above. In certainembodiments, any suitable network arrangement and protocol enabling thecomputing entities to communicate with each other may be used. AlthoughFIG. 10 illustrates a single user device 1030, a single transportationmanagement system 1060, a single vehicle 1040, a plurality ofthird-party systems 1070, and a single network 1010, this disclosurecontemplates any suitable number of each of these entities. As anexample, and not by way of limitation, the network environment mayinclude multiple users 1001, user devices 1030, transportationmanagement system 1060, autonomous or semi-autonomous vehicles 1040,third-party systems 1070, and networks 1010.

The user device 1030, transportation management system 1060, autonomousor semi-autonomous vehicle 1040, and third-party system 1070 may becommunicatively connected or co-located with each other in whole or inpart. These computing entities may communicate via differenttransmission technologies and network types. For example, the userdevice 1030 and the vehicle 1040 may communicate with each other via acable or short-range wireless communication (e.g., Bluetooth, NFC,WI-FI, etc.), and together they may be connected to the Internet via acellular network that is accessible to either one of the devices (e.g.,the user device 1030 may be a smartphone with LTE connection). Thetransportation management system 1060 and third-party system 1070, onthe other hand, may be connected to the Internet via their respectiveLAN/WLAN networks and Internet Service Providers (ISP).

FIG. 10 illustrates transmission links 1050 that connect user device1030, autonomous or semi-autonomous vehicle 1040, transportationmanagement system 1060, and third-party system 1070 to communicationnetwork 1010. This disclosure contemplates any suitable transmissionlinks 1050 , including, e.g., wire connections (e.g., USB, Lightning,Digital Subscriber Line (DSL) or Data Over Cable Service InterfaceSpecification (DOCSIS)), wireless connections (e.g., WI-FI, WiMAX,cellular, satellite, NFC, Bluetooth), optical connections (e.g.,Synchronous Optical Networking (SONET), Synchronous Digital Hierarchy(SDH)), any other wireless communication technologies, and anycombination thereof. In certain embodiments, one or more links 1050 mayconnect to one or more networks 1010, which may include in part, e.g.,ad-hoc network, the Intranet, extranet, VPN, LAN, WLAN, WAN, WWAN, MAN,PSTN, a cellular network, a satellite network, or any combinationthereof. The computing entities may not necessarily use the same type oftransmission link 1050. For example, the user device 1030 maycommunicate with the transportation management system via a cellularnetwork and the Internet but communicate with the autonomous vehicle1040 via Bluetooth or a physical wire connection.

In certain embodiments, the transportation management system 1060 mayfulfill ride requests for one or more users 1001 by dispatching suitablevehicles. The transportation management system 1060 may receive anynumber of ride requests from any number of ride requestors 1001. Incertain embodiments, a ride request from a ride requestor 1001 mayinclude an identifier that identifies the ride requestor in the system1060. The transportation management system 1060 may use the identifierto access and store the ride requestor's 1001 information, in accordancewith the requestor's 1001 privacy settings. The ride requestor's 1001information may be stored in one or more data stores (e.g., a relationaldatabase system) associated with and accessible to the transportationmanagement system 1060. In certain embodiments, ride requestorinformation may include profile information about a particular riderequestor 1001.

In certain embodiments, the ride requestor 1001 may be associated withone or more categories or types, through which the ride requestor 1001may be associated with aggregate information about certain riderequestors of those categories or types. Ride information may include,for example, preferred pick-up and drop-off locations, drivingpreferences (e.g., safety comfort level, preferred speed, rates ofacceleration/deceleration, safety distance from other vehicles whentraveling at various speeds, route, etc.), entertainment preferences andsettings (e.g., preferred music genre or playlist, audio volume, displaybrightness, etc.), temperature settings, whether conversation with thedriver is welcomed, frequent destinations, historical riding patterns(e.g., time of day of travel, starting and ending locations, etc.),preferred language, age, gender, or any other suitable information. Incertain embodiments, the transportation management system 1060 mayclassify a user 1001 based on known information about the user 1001(e.g., using machine-learning classifiers), and use the classificationto retrieve relevant aggregate information associated with that class.For example, the system 1060 may classify a user 1001 as a young adultand retrieve relevant aggregate information associated with youngadults, such as the type of music generally preferred by young adults.

Transportation management system 1060 may also store and access rideinformation. Ride information may include locations related to the ride,traffic data, route options, optimal pick-up or drop-off locations forthe ride, or any other suitable information associated with a ride. Asan example, and not by way of limitation, when the transportationmanagement system 1060 receives a request to travel from San FranciscoInternational Airport (SFO) to Palo Alto, California, the system 1060may access or generate any relevant ride information for this particularride request. The ride information may include, for example, preferredpick-up locations at SFO; alternate pick-up locations in the event thata pick-up location is incompatible with the ride requestor (e.g., theride requestor may be disabled and cannot access the pick-up location)or the pick-up location is otherwise unavailable due to construction,traffic congestion, changes in pick-up/drop-off rules, or any otherreason; one or more routes to navigate from SFO to Palo Alto; preferredoff-ramps for a type of user; or any other suitable informationassociated with the ride.

In certain embodiments, portions of the ride information may be based onhistorical data associated with historical rides facilitated by thesystem 1060. For example, historical data may include aggregateinformation generated based on past ride information, which may includeany ride information described herein and telemetry data collected bysensors in autonomous vehicles and/or user devices. Historical data maybe associated with a particular user (e.g., that particular user'spreferences, common routes, etc.), a category/class of users (e.g.,based on demographics), and/or all users of the system 1060. Forexample, historical data specific to a single user may includeinformation about past rides that particular user has taken, includingthe locations at which the user is picked up and dropped off, music theuser likes to listen to, traffic information associated with the rides,time of the day the user most often rides, and any other suitableinformation specific to the user. As another example, historical dataassociated with a category/class of users may include, e.g., common orpopular ride preferences of users in that category/class, such asteenagers preferring pop music, ride requestors who frequently commuteto the financial district may prefer to listen to the news, etc.

As yet another example, historical data associated with all users mayinclude general usage trends, such as traffic and ride patterns. Usinghistorical data, the system 1060 in certain embodiments may predict andprovide ride suggestions in response to a ride request. In certainembodiments, the system 1060 may use machine-learning, such as neuralnetworks, regression algorithms, instance-based algorithms (e.g.,k-Nearest Neighbor), decision-tree algorithms, Bayesian algorithms,clustering algorithms, association-rule-learning algorithms,deep-learning algorithms, dimensionality-reduction algorithms, ensemblealgorithms, and any other suitable machine-learning algorithms known topersons of ordinary skill in the art. The machine-learning models may betrained using any suitable training algorithm, including supervisedlearning based on labeled training data, unsupervised learning based onunlabeled training data, and/or semi-supervised learning based on amixture of labeled and unlabeled training data.

In certain embodiments, transportation management system 1060 mayinclude one or more server computers. Each server may be a unitaryserver or a distributed server spanning multiple computers or multipledatacenters. The servers may be of various types, such as, for exampleand without limitation, web server, news server, mail server, messageserver, advertising server, file server, application server, exchangeserver, database server, proxy server, another server suitable forperforming functions or processes described herein, or any combinationthereof. In certain embodiments, each server may include hardware,software, or embedded logic components or a combination of two or moresuch components for carrying out the appropriate functionalitiesimplemented or supported by the server.

In certain embodiments, transportation management system 1060 mayinclude one or more data stores. The data stores may be used to storevarious types of information, such as ride information, ride requestorinformation, ride provider information, historical information,third-party information, or any other suitable type of information. Incertain embodiments, the information stored in the data stores may beorganized according to specific data structures. In certain embodiments,each data store may be a relational, columnar, correlation, or any othersuitable type of database system. Although this disclosure describes orillustrates particular types of databases, this disclosure contemplatesany suitable types of databases. Certain embodiments may provideinterfaces that enable a user device 1030 (which may belong to a riderequestor or provider), a transportation management system 1060, vehiclesystem 1040, or a third-party system 1070 to process, transform, manage,retrieve, modify, add, or delete the information stored in the datastore.

In certain embodiments, transportation management system 1060 mayinclude an authorization server (or any other suitable component(s))that allows users 1001 to opt-in to or opt-out of having theirinformation and actions logged, recorded, or sensed by transportationmanagement system 1060 or shared with other systems (e.g., third-partysystems 1070). In certain embodiments, a user 1001 may opt-in or opt-outby setting appropriate privacy settings. A privacy setting of a user maydetermine what information associated with the user may be logged, howinformation associated with the user may be logged, when informationassociated with the user may be logged, who may log informationassociated with the user, whom information associated with the user maybe shared with, and for what purposes information associated with theuser may be logged or shared. Authorization servers may be used toenforce one or more privacy settings of the users 1001 of transportationmanagement system 1060 through blocking, data hashing, anonymization, orother suitable techniques as appropriate.

In certain embodiments, third-party system 1070 may be anetwork-addressable computing system that may provide HD maps or hostGPS maps, customer reviews, music or content, weather information, orany other suitable type of information. Third-party system 1070 maygenerate, store, receive, and send relevant data, such as, for example,map data, customer review data from a customer review website, weatherdata, or any other suitable type of data. Third-party system 1070 may beaccessed by the other computing entities of the network environmenteither directly or via network 1010. For example, user device 1030 mayaccess the third-party system 1070 via network 1010, or viatransportation management system 1060. In the latter case, ifcredentials are to be accessed the third-party system 1070, the user1001 may provide such information to the transportation managementsystem 1060, which may serve as a proxy for accessing content from thethird-party system 1070.

In certain embodiments, user device 1030 may be a mobile computingdevice such as a smartphone, tablet computer, or laptop computer. Userdevice 1030 may include one or more processors (e.g., CPU and/or GPU),memory, and storage. An operating system and applications may beinstalled on the user device 1030, such as, e.g., a transportationapplication associated with the transportation management system 1060,applications associated with third-party systems 1070, and applicationsassociated with the operating system. User device 1030 may includefunctionality for determining its location, direction, or orientation,based on integrated sensors such as GPS, compass, gyroscope, oraccelerometer. User device 1030 may also include wireless transceiversfor wireless communication and may support wireless communicationprotocols such as Bluetooth, near-field communication (NFC), infrared(IR) communication, WI-FI, and/or 2G/3G/4G/LTE/5G mobile communicationstandard. User device 1030 may also include one or more cameras,scanners, touchscreens, microphones, speakers, and any other suitableinput-output devices.

In certain embodiments, the vehicle 1040 may be an autonomous orsemi-autonomous vehicle and equipped with an array of sensors 1044, anavigation system 1046, and a ride-service computing device 1048. Incertain embodiments, a fleet of autonomous or semi-autonomous vehicles1040 may be managed by the transportation management system 1060. Thefleet of autonomous vehicles 1040, in whole or in part, may be owned bythe entity associated with the transportation management system 1060, orthey may be owned by a third-party entity relative to the transportationmanagement system 1060. In either case, the transportation managementsystem 1060 may control the operations of the autonomous vehicles 1040,including, e.g., dispatching select vehicles 1040 to fulfill riderequests, instructing the vehicles 1040 to perform select operations(e.g., head to a service center or charging/fueling station, pull over,stop immediately, self-diagnose, lock/unlock compartments, change musicstation, change temperature, and any other suitable operations), andinstructing the vehicles 1040 to enter select operation modes (e.g.,operate normally, drive at a reduced speed, drive under the command ofhuman operators, and any other suitable operational modes).

In certain embodiments, the autonomous or semi-autonomous vehicles 1040may receive data from and transmit data to the transportation managementsystem 1060 and the third-party system 1070. Example of received datamay include, e.g., instructions, new software or software updates, maps,3D models, trained or untrained machine-learning models, locationinformation (e.g., location of the ride requestor, the autonomous orsemi-autonomous vehicle 1040 itself, other vehicles 1040, and targetdestinations such as service centers), navigation information, trafficinformation, weather information, entertainment content (e.g., music,video, and news) ride requestor information, ride information, and anyother suitable information. Examples of data transmitted from theautonomous or semi-autonomous vehicle 1040 may include, e.g., telemetryand sensor data, determinations/decisions based on such data, vehiclecondition or state (e.g., battery/fuel level, tire and brake conditions,sensor condition, speed, odometer, etc.), location, navigation data,passenger inputs (e.g., through a user interface in the vehicle 1040,passengers may send/receive data to the transportation management system1060 and/or third-party system 1070), and any other suitable data.

In certain embodiments, autonomous or semi-autonomous vehicles 1040 mayalso communicate with each other as well as other traditionalhuman-driven vehicles, including those managed and not managed by thetransportation management system 1060. For example, one vehicle 1040 maycommunicate with another vehicle data regarding their respectivelocation, condition, status, sensor reading, and any other suitableinformation. In certain embodiments, vehicle-to-vehicle communicationmay take place over direct short-range wireless connection (e.g., WI-FI,Bluetooth, NFC) and/or over a network (e.g., the Internet or via thetransportation management system 1060 or third-party system 1070).

In certain embodiments, an autonomous or semi-autonomous vehicle 1040may obtain and process sensor/telemetry data. Such data may be capturedby any suitable sensors. For example, the vehicle 1040 may have a LiDARsensor array of multiple LiDAR transceivers that are configured torotate 360°, emitting pulsed laser light and measuring the reflectedlight from objects surrounding vehicle 1040. In certain embodiments,LiDAR transmitting signals may be steered by use of a gated light valve,which may be a MEMs device that directs a light beam using the principleof light diffraction. Such a device may not use a gimbaled mirror tosteer light beams in 360° around the autonomous or semi-autonomousvehicle. Rather, the gated light valve may direct the light beam intoone of several optical fibers, which may be arranged such that the lightbeam may be directed to many discrete positions around the autonomous orsemi-autonomous vehicle. Thus, data may be captured in 360° around theautonomous or semi-autonomous vehicle, but no rotating parts may benecessary. A LiDAR is an effective sensor for measuring distances totargets, and as such may be used to generate a 3D model of the externalenvironment of the autonomous or semi-autonomous vehicle 1040. As anexample, and not by way of limitation, the 3-D model may represent theexternal environment including objects such as other cars, curbs,debris, objects, and pedestrians up to a maximum range of the sensorarrangement (e.g., 50 meters, 100 meters, or 200 meters).

As another example, the autonomous or semi-autonomous vehicle 1040 mayhave optical cameras pointing in different directions. The cameras maybe used for, e.g., recognizing roads, lane markings, street signs,traffic lights, police, other vehicles, and any other visible objects ofinterest. To enable the vehicle 1040 to “see” at night, infrared camerasmay be installed. In certain embodiments, the vehicle may be equippedwith stereo vision for, e.g., spotting hazards such as pedestrians ortree branches on the road. As another example, the vehicle 1040 may haveradars for, e.g., detecting other vehicles and/or hazards afar.Furthermore, the vehicle 1040 may have ultrasound equipment for, e.g.,parking and obstacle detection. In addition to sensors enabling thevehicle 1040 to detect, measure, and understand the external worldaround it, the vehicle 1040 may further be equipped with sensors fordetecting and self-diagnosing the vehicle's own state and condition. Forexample, the vehicle 1040 may have wheel sensors for, e.g., measuringvelocity; global positioning system (GPS) for, e.g., determining thevehicle's current geolocation; and/or inertial measurement units,accelerometers, gyroscopes, and/or odometer systems for movement ormotion detection.

While the description of these sensors provides particular examples ofutility, one of ordinary skill in the art would appreciate that theutilities of the sensors are not limited to those examples. Further,while an example of a utility may be described with respect to aparticular type of sensor, it should be appreciated that the utility maybe achieved using any combination of sensors. For example, an autonomousvehicle 1040 may build a 3D model of its surrounding based on data fromits LiDAR, radar, sonar, and cameras, along with a pre-generated mapobtained from the transportation management system 1060 or thethird-party system 1070. Although sensors 1044 appear in a particularlocation on autonomous vehicle 1040 in FIG. 10, sensors 1044 may belocated in any suitable location in or on the autonomous orsemi-autonomous vehicle 1040. Example locations for sensors include thefront and rear bumpers, the doors, the front windshield, on the sidepanel, or any other suitable location.

In certain embodiments, the autonomous vehicle 1040 may be equipped witha processing unit (e.g., one or more CPUs and GPUs), memory, andstorage. The vehicle 1040 may thus be equipped to perform a variety ofcomputational and processing tasks, including processing the sensordata, extracting useful information, and operating accordingly. Forexample, based on images captured by its cameras and a machine-visionmodel, the vehicle 1040 may identify particular types of objectscaptured by the images, such as pedestrians, other vehicles, lanes,curbs, and any other objects of interest. In certain embodiments, theautonomous vehicle 1040 may have a navigation system 1046 responsiblefor safely navigating the autonomous vehicle 1040. In certainembodiments, the navigation system 1046 may take as input any type ofsensor data from, e.g., a Global Positioning System (GPS) module,inertial measurement unit (IMU), LiDAR sensors, optical cameras, radiofrequency (RF) transceivers, or any other suitable telemetry or sensorymechanisms. The navigation system 1046 may also utilize, e.g., map data,traffic data, accident reports, weather reports, instructions, targetdestinations, and any other suitable information to determine navigationroutes and particular driving operations (e.g., slowing down, speedingup, stopping, swerving, etc.). In certain embodiments, the navigationsystem 1046 may use its determinations to control the vehicle 1040 tooperate in prescribed manners and to guide the autonomous vehicle 1040to its destinations without colliding into other objects. Although thephysical embodiment of the navigation system 1046 (e.g., the processingunit) appears in a particular location on autonomous vehicle 1040 inFIG. 10, navigation system 1046 may be located in any suitable locationin or on autonomous vehicle 1040. Example locations for navigationsystem 1046 include inside the cabin or passenger compartment ofautonomous vehicle 1040, near the engine/battery, near the front seats,rear seats, or in any other suitable location.

In certain embodiments, the autonomous or semi-autonomous vehicle 1040may be equipped with a ride-service computing device 1048, which may bea tablet computer, or any other suitable device installed bytransportation management system 1060 to allow the user to interact withthe autonomous vehicle 1040, transportation management system 1060,other users 1001, or third-party systems 1070. In certain embodiments,installation of ride-service computing device 1048 may be accomplishedby placing the ride-service computing device 1048 inside autonomousvehicle 1040, and further configuring it to communicate with the vehicle1040 via a wire or wireless connection (e.g., via Bluetooth). AlthoughFIG. 10 illustrates a single ride-service computing device 1048 at aparticular location in autonomous vehicle 1040, autonomous orsemi-autonomous vehicle 1040 may include several ride-service computingdevices 1048 in several different locations within the vehicle.

As an example, and not by way of limitation, the autonomous orsemi-autonomous vehicle 1040 may include four ride-service computingdevices 1048 located in the following places: one in front of thefront-left passenger seat (e.g., driver's seat in traditional U.S.automobiles), one in front of the front-right passenger seat, one infront of each of the rear-left and rear-right passenger seats. Incertain embodiments, ride-service computing device 1048 may bedetachable from any component of autonomous vehicle 1040. This may allowusers to handle ride-service computing device 1048 in a mannerconsistent with other tablet computing devices. As an example, and notby way of limitation, a user may move ride-service computing device 1048to any location in the cabin or passenger compartment of the autonomousor semi-autonomous vehicle 1040, may hold ride-service computing device1048, or handle ride-service computing device 1048 in any other suitablemanner. Although this disclosure describes providing a particularcomputing device in a particular manner, this disclosure contemplatesproviding any suitable computing device in any suitable manner.

FIG. 11 illustrates an example computer system 1100 that may be utilizedto perform one or more of the forgoing embodiments as discussed herein.In certain embodiments, one or more computer systems 1100 perform one ormore steps of one or more methods described or illustrated herein. Incertain embodiments, one or more computer systems 1100 provide thefunctionalities described or illustrated herein. In certain embodiments,software running on one or more computer systems 1100 performs one ormore steps of one or more methods described or illustrated herein orprovides the functionalities described or illustrated herein. Certainembodiments include one or more portions of one or more computer systems1100. Herein, a reference to a computer system may encompass a computingdevice, and vice versa, where appropriate. Moreover, a reference to acomputer system may encompass one or more computer systems, whereappropriate.

This disclosure contemplates any suitable number of computer systems1100. This disclosure contemplates computer system 1100 taking anysuitable physical form. As example and not by way of limitation,computer system 1100 may be an embedded computer system, asystem-on-chip (SOC), a single-board computer system (SBC) (such as, forexample, a computer-on-module (COM) or system-on-module (SOM)), adesktop computer system, a laptop or notebook computer system, aninteractive kiosk, a mainframe, a mesh of computer systems, a mobiletelephone, a personal digital assistant (PDA), a server, a tabletcomputer system, an augmented/virtual reality device, or a combinationof two or more of these. Where appropriate, computer system 1100 mayinclude one or more computer systems 1100; be unitary or distributed;span multiple locations; span multiple machines; span multiple datacenters; or reside in a cloud, which may include one or more cloudcomponents in one or more networks. Where appropriate, one or morecomputer systems 1100 may perform without substantial spatial ortemporal limitation one or more steps of one or more methods describedor illustrated herein. As an example, and not by way of limitation, oneor more computer systems 1100 may perform in real time or in batch modeone or more steps of one or more methods described or illustratedherein. One or more computer systems 1100 may perform at different timesor at different locations one or more steps of one or more methodsdescribed or illustrated herein, where appropriate.

In certain embodiments, computer system 1100 includes a processor 1102,memory 1104, storage 1106, an input/output (I/O) interface 1108, acommunication interface 1110, and a bus 1112. Although this disclosuredescribes and illustrates a particular computer system having aparticular number of particular components in a particular arrangement,this disclosure contemplates any suitable computer system having anysuitable number of any suitable components in any suitable arrangement.In certain embodiments, processor 1102 includes hardware for executinginstructions, such as those making up a computer program. As an example,and not by way of limitation, to execute instructions, processor 1102may retrieve (or fetch) the instructions from an internal register, aninternal cache, memory 1104, or storage 1106; decode and execute them;and then write one or more results to an internal register, an internalcache, memory 1104, or storage 1106. In certain embodiments, processor1102 may include one or more internal caches for data, instructions, oraddresses.

This disclosure contemplates processor 1102 including any suitablenumber of any suitable internal caches, where appropriate. As anexample, and not by way of limitation, processor 1102 may include one ormore instruction caches, one or more data caches, and one or moretranslation lookaside buffers (TLBs). Instructions in the instructioncaches may be copies of instructions in memory 1104 or storage 1106, andthe instruction caches may speed up retrieval of those instructions byprocessor 1102. Data in the data caches may be copies of data in memory1104 or storage 1106 that are to be operated on by computerinstructions; the results of previous instructions executed by processor1102 that are accessible to subsequent instructions or for writing tomemory 1104 or storage 1106; or any other suitable data. The data cachesmay speed up read or write operations by processor 1102. The TLBs mayspeed up virtual-address translation for processor 1102. In certainembodiments, processor 1102 may include one or more internal registersfor data, instructions, or addresses. This disclosure contemplatesprocessor 1102 including any suitable number of any suitable internalregisters, where appropriate. Where appropriate, processor 1102 mayinclude one or more arithmetic logic units (ALUs), be a multi-coreprocessor, or include one or more processors 1102. Although thisdisclosure describes and illustrates a particular processor, thisdisclosure contemplates any suitable processor.

In certain embodiments, memory 1104 includes main memory for storinginstructions for processor 1102 to execute or data for processor 1102 tooperate on. As an example, and not by way of limitation, computer system1100 may load instructions from storage 1106 or another source (such asanother computer system 1100) to memory 1104. Processor 1102 may thenload the instructions from memory 1104 to an internal register orinternal cache. To execute the instructions, processor 1102 may retrievethe instructions from the internal register or internal cache and decodethem. During or after execution of the instructions, processor 1102 maywrite one or more results (which may be intermediate or final results)to the internal register or internal cache. Processor 1102 may thenwrite one or more of those results to memory 1104.

In certain embodiments, processor 1102 executes only instructions in oneor more internal registers or internal caches or in memory 1104 (asopposed to storage 1106 or elsewhere) and operates only on data in oneor more internal registers or internal caches or in memory 1104 (asopposed to storage 1106 or elsewhere). One or more memory buses (whichmay each include an address bus and a data bus) may couple processor1102 to memory 1104. Bus 1112 may include one or more memory buses, asdescribed in further detail below. In certain embodiments, one or morememory management units (MMUs) reside between processor 1102 and memory1104 and facilitate accesses to memory 1104 requested by processor 1102.In certain embodiments, memory 1104 includes random access memory (RAM).This RAM may be volatile memory, where appropriate. Where appropriate,this RAM may be dynamic RAM (DRAM) or static RAM (SRAM). Moreover, whereappropriate, this RAM may be single-ported or multi-ported RAM. Thisdisclosure contemplates any suitable RAM. Memory 1104 may include one ormore memories 1104, where appropriate. Although this disclosuredescribes and illustrates particular memory, this disclosurecontemplates any suitable memory.

In certain embodiments, storage 1106 includes mass storage for data orinstructions. As an example, and not by way of limitation, storage 1106may include a hard disk drive (HDD), a floppy disk drive, flash memory,an optical disc, a magneto-optical disc, magnetic tape, or a UniversalSerial Bus (USB) drive or a combination of two or more of these. Storage1106 may include removable or non-removable (or fixed) media, whereappropriate. Storage 1106 may be internal or external to computer system1100, where appropriate. In certain embodiments, storage 1106 isnon-volatile, solid-state memory. In certain embodiments, storage 1106includes read-only memory (ROM). Where appropriate, this ROM may bemask-programmed ROM, programmable ROM (PROM), erasable PROM (EPROM),electrically erasable PROM (EEPROM), electrically alterable ROM (EAROM),or flash memory or a combination of two or more of these. Thisdisclosure contemplates mass storage 1106 taking any suitable physicalform. Storage 1106 may include one or more storage control unitsfacilitating communication between processor 1102 and storage 1106,where appropriate. Where appropriate, storage 1106 may include one ormore storages 1106. Although this disclosure describes and illustratesparticular storage, this disclosure contemplates any suitable storage.

In certain embodiments, I/O interface 1108 includes hardware, software,or both, providing one or more interfaces for communication betweencomputer system 1100 and one or more I/O devices. Computer system 1100may include one or more of these I/O devices, where appropriate. One ormore of these I/O devices may enable communication between a person andcomputer system 1100. As an example, and not by way of limitation, anI/O device may include a keyboard, keypad, microphone, monitor, mouse,printer, scanner, speaker, still camera, stylus, tablet, touch screen,trackball, video camera, another suitable I/O device or a combination oftwo or more of these. An I/O device may include one or more sensors.This disclosure contemplates any suitable I/O devices and any suitableI/O interfaces 1108 for them. Where appropriate, I/O interface 1108 mayinclude one or more device or software drivers enabling processor 1102to drive one or more of these I/O devices. I/O interface 1108 mayinclude one or more I/O interfaces 1108, where appropriate. Althoughthis disclosure describes and illustrates a particular I/O interface,this disclosure contemplates any suitable I/O interface.

In certain embodiments, communication interface 1110 includes hardware,software, or both providing one or more interfaces for communication(such as, for example, packet-based communication) between computersystem 1100 and one or more other computer systems 1100 or one or morenetworks. As an example, and not by way of limitation, communicationinterface 1110 may include a network interface controller (NIC) ornetwork adapter for communicating with an Ethernet or any otherwire-based network or a wireless NIC (WNIC) or wireless adapter forcommunicating with a wireless network, such as a WI-FI network. Thisdisclosure contemplates any suitable network and any suitablecommunication interface 1110 for it. As an example, and not by way oflimitation, computer system 1100 may communicate with an ad hoc network,a personal area network (PAN), a local area network (LAN), a wide areanetwork (WAN), a metropolitan area network (MAN), or one or moreportions of the Internet or a combination of two or more of these. Oneor more portions of one or more of these networks may be wired orwireless. As an example, computer system 1100 may communicate with awireless PAN (WPAN) (such as, for example, a Bluetooth WPAN), a WI-FInetwork, a WI-MAX network, a cellular telephone network (such as, forexample, a Global System for Mobile Communications (GSM) network), orany other suitable wireless network or a combination of two or more ofthese. Computer system 1100 may include any suitable communicationinterface 1110 for any of these networks, where appropriate.Communication interface 1110 may include one or more communicationinterfaces 1110, where appropriate. Although this disclosure describesand illustrates a particular communication interface, this disclosurecontemplates any suitable communication interface.

In certain embodiments, bus 1112 includes hardware, software, or bothcoupling components of computer system 1100 to each other. As an exampleand not by way of limitation, bus 1112 may include an AcceleratedGraphics Port (AGP) or any other graphics bus, an Enhanced IndustryStandard Architecture (EISA) bus, a front-side bus (FSB), aHYPERTRANSPORT (HT) interconnect, an Industry Standard Architecture(ISA) bus, an INFINIBAND interconnect, a low-pin-count (LPC) bus, amemory bus, a Micro Channel Architecture (MCA) bus, a PeripheralComponent Interconnect (PCI) bus, a PCI-Express (PCIe) bus, a serialadvanced technology attachment (SATA) bus, a Video Electronics StandardsAssociation local (VLB) bus, or another suitable bus or a combination oftwo or more of these. Bus 1112 may include one or more buses 1112, whereappropriate. Although this disclosure describes and illustrates aparticular bus, this disclosure contemplates any suitable bus orinterconnect.

Herein, a computer-readable non-transitory storage medium or media mayinclude one or more semiconductor-based or other types of integratedcircuits (ICs) (such as field-programmable gate arrays (FPGAs) orapplication-specific ICs (ASICs)), hard disk drives (HDDs), hybrid harddrives (HHDs), optical discs, optical disc drives (ODDs),magneto-optical discs, magneto-optical drives, floppy diskettes, floppydisk drives (FDDs), magnetic tapes, solid-state drives (SSDs),RAM-drives, SECURE DIGITAL cards or drives, any other suitablecomputer-readable non-transitory storage media, or any suitablecombination of two or more of these, where appropriate. Acomputer-readable non-transitory storage medium may be volatile,non-volatile, or a combination of volatile and non-volatile, whereappropriate.

Herein, “or” is inclusive and not exclusive, unless expressly indicatedotherwise or indicated otherwise by context. Therefore, herein, “A or B”means “A, B, or both,” unless expressly indicated otherwise or indicatedotherwise by context. Moreover, “and” is both joint and several, unlessexpressly indicated otherwise or indicated otherwise by context.Therefore, herein, “A and B” means “A and B, jointly or severally,”unless expressly indicated otherwise or indicated otherwise by context.

The scope of this disclosure encompasses all changes, substitutions,variations, alterations, and modifications to the example embodimentsdescribed or illustrated herein that a person having ordinary skill inthe art would comprehend. The scope of this disclosure is not limited tothe example embodiments described or illustrated herein. Moreover,although this disclosure describes and illustrates respectiveembodiments herein as including particular components, elements,feature, functions, operations, or steps, any of these embodiments mayinclude any combination or permutation of any of the components,elements, features, functions, operations, or steps described orillustrated anywhere herein that a person having ordinary skill in theart would comprehend. Furthermore, reference in the appended claims toan apparatus or system or a component of an apparatus or system beingadapted to, arranged to, capable of, configured to, enabled to, operableto, or operative to perform a particular function encompasses thatapparatus, system, component, whether or not it or that particularfunction is activated, turned on, or unlocked, as long as thatapparatus, system, or component is so adapted, arranged, capable,configured, enabled, operable, or operative. Additionally, although thisdisclosure describes or illustrates certain embodiments as providingparticular advantages, certain embodiments may provide none, some, orall of these advantages.

What is claimed is:
 1. A universal sensor assembly configured formounting on a vehicle, the universal sensor assembly comprising: asensor suite, comprising: a baseplate; and at least one sensor beingsupported by the baseplate, the at least one sensor including a field ofview (FOV) associated with detecting one or more objects within anenvironment surrounding the vehicle; and a support structure,comprising: a set of detachable attachment mechanisms supporting thebaseplate, wherein the set of detachable attachment mechanisms isincluded on a rooftop of the vehicle at one or more positions that arebased at least in part on one or more surface parameters associated withthe rooftop of the vehicle; and at least one support componentsupporting the baseplate, wherein the at least one support component isdisposed at a position on the rooftop of the vehicle that is based atleast in part on the one or more surface parameters so that the FOV ofthe at least one sensor is unoccluded by the vehicle and the supportstructure.
 2. The universal sensor assembly of claim 1, wherein the setof detachable attachment mechanisms is mounted to an undersurface of thebaseplate, and wherein the set of detachable attachment mechanisms isconfigured to compress in a first direction for detachably mounting thebaseplate onto the rooftop of the vehicle.
 3. The universal sensorassembly of claim 2, wherein the at least one support component ismounted to an inner portion of the undersurface of the baseplate, andwherein the at least one support component is configured to at leastpartially counteract the compression in the first direction by the setof detachable attachment mechanisms so as to fix a relative motionbetween the baseplate and the vehicle, and so that the FOV of the atleast one sensor is unoccluded while the vehicle is in operation.
 4. Theuniversal sensor assembly of claim 1, wherein the baseplate isconfigured to be calibrated to a calibration point based at least inpart on the one or more surface parameters prior to being mounted ontothe rooftop of the vehicle, and wherein the one or more surfaceparameters comprises a determined height, a determined width, adetermined position, a determined angle, a determined shape, adetermined contour, or a determined style of the rooftop of the vehicle.5. The universal sensor assembly of claim 1, wherein the set ofdetachable attachment mechanisms comprises one or more vacuum pumpsuction cups, one or more magnetic devices, one or more Velcrofasteners, or one or more adhesive materials.
 6. The universal sensorassembly of claim 1, wherein the at least one support componentcomprises at least one conical-shaped rigid support component configuredto increase in rigidity over a surface area thereof.
 7. The universalsensor assembly of claim 1, wherein the support structure furthercomprises: one or more removable support structures including a firstend being detachably mounted to the baseplate and a second end fordetachably mounting to the rooftop of the vehicle or at least one of theset of detachable attachment mechanisms, and wherein the one or moreremovable support structures are selected and positioned based at leastin part on the one or more surface parameters associated with therooftop of the vehicle.
 8. A method of providing a universal sensorassembly for mounting on a vehicle, the method comprising: determiningone or more surface parameters associated with a surface of the vehicle;determining a set of detachable attachment mechanisms and a set ofsupport components configured to support a baseplate of the universalsensor assembly, the baseplate supporting at least one sensor fordetecting an environment external to the vehicle, wherein the set ofdetachable attachment mechanisms and the set of support components aredetermined based at least in part on the one or more surface parametersassociated with the surface of the vehicle mounting the baseplate to theset of detachable attachment mechanisms and the set of supportcomponents to form the universal sensor assembly; and mounting theuniversal sensor assembly to the surface of the vehicle.
 9. The methodof claim 8, wherein the surface of the vehicle is a rooftop of thevehicle, and wherein the one or more surface parameters associated withthe surface of the vehicle include a height, a width, a position, anangle, a shape, a contour, or a style of the rooftop of the vehicle. 10.The method of claim 8, wherein the set of detachable attachmentmechanisms is mounted to an undersurface of the baseplate, and whereinthe set of detachable attachment mechanisms is configured to compresswhile mounting the universal sensor assembly to the surface of thevehicle.
 11. The method of claim 10, wherein the set of supportcomponents is mounted to an inner portion of the undersurface of thebaseplate, and wherein the set of support components is configured to atleast partially counteract the compression by the set of detachableattachment mechanisms so as to fix a relative motion between thebaseplate and the vehicle.
 12. The method of claim 8, wherein the set ofsupport components comprises one or more conical-shaped rigid supportcomponents configured to increase in rigidity over a surface areathereof.
 13. The method of claim 8, further comprising: determining oneor more removable support structures, the one or more removable supportstructures including a first end for detachably mounting to thebaseplate and a second end for detachably mounting to the rooftop of thevehicle or at least one of the set of detachable attachment mechanisms,and wherein the one or more removable support structures are determinedbased at least in part on the one or more surface parameters associatedwith the vehicle.
 14. The method of claim 13, wherein determining theone or more removable support structures comprises selecting the one ormore removable support structures from a library of removable supportstructures based at least in part on the one or more surface parameters.15. A universal sensor assembly configured for mounting on a vehicle,the universal sensor assembly comprising: a sensor suite, comprising: abaseplate; at least one sensor being supported by the baseplate, the atleast one sensor including a field of view (FOV) for perceiving one ormore objects within an environment surrounding the vehicle; a set ofdetachable attachment mechanisms secured to the vehicle and supportingthe baseplate; and a set of support components supporting the baseplate,wherein the set of support components is capable of at least partiallycounteracting a compression exerted by the set of detachable attachmentmechanisms against the set of support components while the vehicle ismoving so as to fix a relative motion between the baseplate and thevehicle and prevent occlusion of the FOV of the at least one sensor tothe one or more objects within the environment.
 16. The universal sensorassembly of claim 15, wherein the set of detachable attachmentmechanisms is mounted to an outer portion of an undersurface of thebaseplate, and wherein the set of support components is mounted to aninner portion of the undersurface of the baseplate.
 17. The universalsensor assembly of claim 16, wherein a position of the set of detachableattachment mechanisms on a rooftop of the vehicle is determined based atleast in part on one or more surface parameters associated with arooftop of the vehicle, and wherein the one or more surface parameterscomprises a determined height, a determined width, a determinedposition, a determined angle, a determined shape, a determined contour,or a determined style of the rooftop of the vehicle.
 18. The universalsensor assembly of claim 17, further comprising: one or more removablesupport structures including a first end being detachably mounted to thebaseplate and a second end for detachably mounting to the rooftop of thevehicle or at least one of the set of detachable attachment mechanisms,and wherein the one or more removable support structures are selectedand positioned based at least in part on the one or more surfaceparameters associated with the rooftop of the vehicle.
 19. The universalsensor assembly of claim 15, wherein the set of support componentscomprises a high-density rubber material, a high-density foam material,a high-density fiber material, a high-density polymer material, ahigh-density ceramic material, a high-density composite material, or ahigh-density alloy material.
 20. The universal sensor assembly of claim15, wherein the set of support components comprises a greater Flexuralmodulus of elasticity as compared to the set of detachable attachmentmechanisms or a greater Tensile modulus of elasticity as compared to theset of detachable attachment mechanisms.